Optional Siemens current-loop data

Some project source ZIPs include the original DaRUS CSV from Hinze (2022), DaRUS V1, licensed CC BY 4.0. The CSV and its derived reference_run outputs are excluded from PyPI distributions. You can obtain the original dataset from the linked record if you do not have the source ZIP.

The dataset describes a force-controlled linear drive. The optional analyzer reads Siemens r0077 and r0078[0] as drive current setpoint and feedback in A RMS. This does not establish a calibrated horizontal cart force. The fitted transfer function has current units and must not be inserted as motor.command_to_force in N per command.

With the original CSV in the source ZIP, run:

zcartpole-identify-current examples/real_data/LDD_Transfer_function_Force_controlled.csv -o current_run

It writes current_loop_fit.json and current_loop_prediction.csv; add --plot with [viz] to save a PNG. The holdout is a later segment of the same acquisition, not an independent hardware experiment. A separate force sensor and system model are needed to map drive command to cart force. See data attribution and validation.