MOC:CFG_1.0::

# ..\..\..\syspar/EXT_REX6400_2.5_120_bal_B.cfg
# IRB.IRB6AX.REX6400_2_5_150.REX6400_2_5_120.REX6400_bal_B
# 
# created 2005/11/18 05:24:30 by param_db $Revision: 40.6 $


# MOTION_SYSTEM - ?
MOTION_SYSTEM:
#
-name "system_1" -brake_on_timeout 3600000 -dynamic_resolution 1 \
-path_resolution 1.55 -std_servo_queue_time 0.193536 \
-min_temp_ambient_cabinet 5 -max_temp_ambient_cabinet 45 \
-min_temp_ambient_robot 5 -max_temp_ambient_robot 45 \
-perpendicular_acc_ratio 1 -micro_ipol_type 0 \
-dyn_ipol_decbuf_type "OPTIMAL_PATH" -dyn_ipol_opt_path_strength 0.4 \
-cpu_load_added_to_dsp 0 -motion_sup_max_level 300 \
-emergency_stop_delay_time 0.02 

# RELAY - ?
RELAY:
#
-name "irb_brake" -out_signal "BRAKE" -in_signal "" 
#
-name "irb_run" -out_signal "CHAIN1" -in_signal "K1" 
#
-name "irb_run2" -out_signal "CHAIN2" -in_signal "K2" 

# ROBOT - ?
ROBOT:
#
-name "master" -use_robot_type "6400_2.5_120" -use_joint_0 "irb_1" \
-use_joint_1 "irb_2" -use_joint_2 "irb_3" -use_joint_3 "irb_4" \
-use_joint_4 "irb_5" -use_joint_5 "irb_6" 

# MOTION_SUP - ?
MOTION_SUP:
#
-name "irb" -path_col_detect_on -jog_col_detect_on -path_col_detect_level 100 \
-jog_col_detect_level 100 -inertia_tolerance 0.3 -gravity_tolerance 0.2 \
-friction_tolerance 1 -disturbance_tolerance 0.2 

# TOOL_INTERFACE - ?
TOOL_INTERFACE:
#
-name "tool" 

# ARM - ?
ARM:
#
-name "irb_1" -use_arm_type "IRB6400_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 3.141593 \
-lower_joint_bound -3.141593 -upper_joint_bound_max 3.141593 \
-lower_joint_bound_min -3.141593 
#
-name "irb_2" -use_arm_type "IRB6400_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.48353 -lower_joint_bound -1.22173 \
-upper_joint_bound_max 1.48353 -lower_joint_bound_min -1.22173 
#
-name "irb_3" -use_arm_type "IRB6400_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 1.919862 \
-lower_joint_bound -0.488692 -upper_joint_bound_max 1.919862 \
-lower_joint_bound_min -0.488692 -upper_joint_coupl_bound 1.134464 \
-lower_joint_coupl_bound -1.169371 
#
-name "irb_4" -use_arm_type "IRB6400_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -upper_joint_bound 5.235988 \
-lower_joint_bound -5.235988 -upper_joint_bound_max 5.235988 \
-lower_joint_bound_min -5.235988 
#
-name "irb_5" -use_arm_type "IRB6400_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -upper_joint_bound 2.094395 \
-lower_joint_bound -2.094395 -upper_joint_bound_max 2.094395 \
-lower_joint_bound_min -2.094395 
#
-name "irb_6" -use_arm_type "IRB6400_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -upper_joint_bound 5.235988 \
-lower_joint_bound -5.235988 -upper_joint_bound_max 943 \
-lower_joint_bound_min -943 

# ARM_CHECK_POINT - ?
ARM_CHECK_POINT:
#
-name "irb_3" -checktype "POS" -position_x -0.46 -position_y 0 \
-position_z 0.225 

# ARM_LOAD - ?
ARM_LOAD:
#
-name "load_1" -mass 0 
#
-name "load_2" -mass 0 
#
-name "load_3" -mass 0 
#
-name "load_4" -mass 0 

# MAINS - ?
MAINS:
#
-name "mains" -u_tolerance_min -0.15 -u_tolerance_max 0.1 

# CURRENT_CONTROLLER - ?
CURRENT_CONTROLLER:
#
-name "c_c_slow_1" -Kp_q_factor 0.1 -Kp_d_factor 0.2 -Ti_q 0.01 -Ti_d 0.01 \
-current_forced_factor 0.5 -ref_filter_order 3 -delay_filter_time 0.000252 

# DRIVE_UNIT_SUPERVISION - ?
DRIVE_UNIT_SUPERVISION:
#
-name "ext_d_u_sup" -err0mask_motors_off 0 -err0mask_motors_on 440 \
-err0mask_stand_alone 0 -err1mask_motors_off 31 -err1mask_motors_on 31 \
-err1mask_stand_alone 31 

# CABLE - ?
CABLE:
#
-name "cable_4.5_30" -use_cable_type "cable_4.5" -length 30 
#
-name "cable_3.0_30" -use_cable_type "cable_3.0" -length 30 
#
-name "cable_1.5_30" -use_cable_type "cable_1.5" -length 30 
#
-name "cable_1.0_30" -use_cable_type "cable_1.0" -length 30 
#
-name "cable_3.0_50" -use_cable_type "cable_3.0" -length 50 
#
-name "cable_2.0_50" -use_cable_type "cable_2.0" -length 50 
#
-name "cable_0.75_50" -use_cable_type "cable_0.75" -length 50 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "IC_motor_1" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -r_stator_20 5 \
-l_stator 0.02 
#
-name "IC_motor_2" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -r_stator_20 5 \
-l_stator 0.02 

# CONTROL_PARAMETERS - ?
CONTROL_PARAMETERS:
#
-name "irb_1" -friction_ffw_level 0.48 
#
-name "irb_2" -friction_ffw_level 1.1 
#
-name "irb_3" -friction_ffw_level 0.75 
#
-name "irb_4" -friction_ffw_level 0.55 
#
-name "irb_5" -friction_ffw_level 0.38 
#
-name "irb_6" -friction_ffw_level 0.18 
