MOC:CFG_1.0::

# ..\..\..\syspar/INT_IRB340_YEC_R_2.cfg
# IRB.IRB1234.IRB340_BASE.YEC340_R.IRB340_R_2.TUNE_YEC340_R_CM2
# 
# created 2005/11/18 05:24:42 by param_db $Revision: 40.6 $


# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "IRB" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "irb_brake" -use_robot "master" -stand_by_state \
-activate_at_start_up -do_not_allow_deactivation 

# ROBOT_CALIB - ?
ROBOT_CALIB:
#
-name "uncalib" -use_tool_interface "irb" 

# TOOL_INTERFACE - ?
TOOL_INTERFACE:
#
-name "irb" 

# MOTION_SUP_DATA - (all parameters on motor side)
MOTION_SUP_DATA:
#
-name "deactivated" -col_detect_mode 0 

# MOTOR - ?
MOTOR:
#
-name "irb_1" -use_motor_type "3HAC17343-1" -use_motor_calib "irb_1" \
-stator_cooling_factor 1.22 
#
-name "irb_2" -use_motor_type "3HAC17343-1" -use_motor_calib "irb_2" \
-stator_cooling_factor 1.22 
#
-name "irb_3" -use_motor_type "3HAC17343-1" -use_motor_calib "irb_3" \
-stator_cooling_factor 1.22 
#
-name "irb_4" -use_motor_type "3HAC17344-1" -use_motor_calib "irb_4" \
-stator_cooling_factor 1.22 

# LINEAR_JOG - ?
LINEAR_JOG:
#
-name "default" -cart_lin_no_fix_world_1 2 -cart_lin_no_fix_world_2 -3 \
-cart_lin_no_fix_world_3 -1 -cart_lin_no_fix_base_1 2 \
-cart_lin_no_fix_base_2 -3 -cart_lin_no_fix_base_3 -1 \
-cart_lin_no_fix_tool_1 2 -cart_lin_no_fix_tool_2 -3 \
-cart_lin_no_fix_tool_3 -1 -cart_lin_no_fix_wobj_1 2 \
-cart_lin_no_fix_wobj_2 -3 -cart_lin_no_fix_wobj_3 -1 

# REORIENT_JOG - ?
REORIENT_JOG:
#
-name "default" -cart_orient_no_fix_world_1 0 -cart_orient_no_fix_world_2 3 \
-cart_orient_no_fix_world_3 0 -cart_orient_no_fix_base_1 0 \
-cart_orient_no_fix_base_2 3 -cart_orient_no_fix_base_3 0 \
-cart_orient_no_fix_tool_1 0 -cart_orient_no_fix_tool_2 3 \
-cart_orient_no_fix_tool_3 0 -cart_orient_no_fix_wobj_1 0 \
-cart_orient_no_fix_wobj_2 3 -cart_orient_no_fix_wobj_3 0 

# JOINT_JOG - ?
JOINT_JOG:
#
-name "default" -joint_1 -2 -joint_2 -3 -joint_3 1 -joint_4 0 -joint_5 1 \
-joint_6 0 

# SINGLE_JOG - ?
SINGLE_JOG:
#
-name "default" 
