MOC:CFG_1.0:4:0::

# ..\..\..\syspar/MOC_1400_1.28_CRADLE.cfg
# 6400_CRADLE.2400_CRADLE.1400_1_28_CRADLE
# 
# created 2005/11/18 05:24:41 by param_db $Revision: 40.6 $


# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "CRADLE" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "" -use_single_0 "AC1" -use_single_1 "AC2" \
-use_single_2 "AC3" -use_single_3 "AC4" -use_single_4 "AC5" \
-use_single_5 "AC6" -user_frame_moved_by "" -stand_by_state 

# SINGLE - ?
SINGLE:
#
-name "AC1" -use_single_type "ACX" -use_joint "AC1" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC1" 
#
-name "AC2" -use_single_type "ACX" -use_joint "AC2" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC2" 
#
-name "AC3" -use_single_type "ACX" -use_joint "AC3" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC3" 
#
-name "AC4" -use_single_type "ACX" -use_joint "AC4" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC4" 
#
-name "AC5" -use_single_type "ACX" -use_joint "AC5" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC5" 
#
-name "AC6" -use_single_type "ACX" -use_joint "AC6" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0 \
-use_single_jog "AC6" 

# SINGLE_TYPE - ?
SINGLE_TYPE:
#
-name "ACX" -mechanics "FREE_ROT" 

# JOINT - ?
JOINT:
#
-name "AC1" -logical_axis 7 -use_measurement_channel "AC1" \
-use_axc_filter "ACX" -use_arm "AC1" -use_transmission "AC1" -use_brake "ACX" \
-use_supervision "AC1" -use_drive_system "AC1" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC1" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC1" 
#
-name "AC2" -logical_axis 8 -use_measurement_channel "AC2" \
-use_axc_filter "ACX" -use_arm "AC2" -use_transmission "AC2" -use_brake "ACX" \
-use_supervision "AC2" -use_drive_system "AC2" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC2" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC2" 
#
-name "AC3" -logical_axis 9 -use_measurement_channel "AC3" \
-use_axc_filter "ACX" -use_arm "AC3" -use_transmission "AC3" -use_brake "ACX" \
-use_supervision "AC3" -use_drive_system "AC3" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC3" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC3" 
#
-name "AC4" -logical_axis 10 -use_measurement_channel "AC4" \
-use_axc_filter "ACX" -use_arm "AC4" -use_transmission "AC4" -use_brake "ACX" \
-use_supervision "AC4" -use_drive_system "AC4" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC4" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC4" 
#
-name "AC5" -logical_axis 11 -use_measurement_channel "AC5" \
-use_axc_filter "ACX" -use_arm "AC5" -use_transmission "AC5" -use_brake "ACX" \
-use_supervision "AC5" -use_drive_system "AC5" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC5" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC5" 
#
-name "AC6" -logical_axis 12 -use_measurement_channel "AC6" \
-use_axc_filter "ACX" -use_arm "AC6" -use_transmission "AC6" -use_brake "ACX" \
-use_supervision "AC6" -use_drive_system "AC6" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "AC6" -normal_control_master_type "LCM0" \
-use_normal_control_master "AC6" 

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "AC1" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 1 
#
-name "AC2" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 2 
#
-name "AC3" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 3 
#
-name "AC4" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 4 
#
-name "AC5" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 5 
#
-name "AC6" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 6 

# ARM - ?
ARM:
#
-name "AC1" -use_arm_type "ACX" -use_acc_data "AC1" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 
#
-name "AC2" -use_arm_type "ACX" -use_acc_data "AC2" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 
#
-name "AC3" -use_arm_type "ACX" -use_acc_data "AC3" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 
#
-name "AC4" -use_arm_type "ACX" -use_acc_data "AC4" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 
#
-name "AC5" -use_arm_type "ACX" -use_acc_data "AC5" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 
#
-name "AC6" -use_arm_type "ACX" -use_acc_data "AC6" -independent_joint_on \
-upper_joint_bound 50 -lower_joint_bound -50 

# ARM_TYPE - Type of arm
ARM_TYPE:
#
-name "ACX" 

# ACC_DATA - ?
ACC_DATA:
#
-name "AC1" -wc_acc 0.52 -wc_dec 0.58 
#
-name "AC2" -wc_acc 1.07 -wc_dec 1.18 
#
-name "AC3" -wc_acc 0.52 -wc_dec 0.58 
#
-name "AC4" -wc_acc 0.35 -wc_dec 0.4 
#
-name "AC5" -wc_acc 0.52 -wc_dec 0.58 
#
-name "AC6" -wc_acc 0.35 -wc_dec 0.4 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "AC1" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 
#
-name "AC2" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 
#
-name "AC3" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 
#
-name "AC4" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 
#
-name "AC5" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 
#
-name "AC6" -rotating_move -transm_joint 360 -high_gear 360 -low_gear 1 

# BRAKE - ?
BRAKE:
#
-name "ACX" -control_off_speed_limit 1 -control_off_delay_time 0.1 

# SUPERVISION - (all parameters on motor side)
SUPERVISION:
#
-name "AC1" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 
#
-name "AC2" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 
#
-name "AC3" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 
#
-name "AC4" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 
#
-name "AC5" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 
#
-name "AC6" -use_supervision_type "ACX" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 

# SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
#
-name "ACX" -static_power_up_position_limit 3 \
-dynamic_power_up_position_limit 150 -static_position_limit 3 \
-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \
-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \
-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \
-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28 

# AXC_FILTER - ?
AXC_FILTER:
#
-name "ACX" -use_feedback_iir2_filter "LP_248" \
-use_speed_error_iir2_filter "NOTCH_248" \
-use_controllable_iir2_filter "VAR_LAG_16_72" \
-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25" \
-position_controller_mode_4ms 

# DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "AC1" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC1" \
-use_cable "cable_4.5_30" -use_motor "AC1" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC1" 
#
-name "AC2" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC2" \
-use_cable "cable_4.5_30" -use_motor "AC2" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC2" 
#
-name "AC3" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC3" \
-use_cable "cable_4.5_30" -use_motor "AC3" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC3" 
#
-name "AC4" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC4" \
-use_cable "cable_4.5_30" -use_motor "AC4" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC4" 
#
-name "AC5" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC5" \
-use_cable "cable_4.5_30" -use_motor "AC5" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC5" 
#
-name "AC6" -use_current_transfer_function "cur_tr_0.95" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "AC6" \
-use_cable "cable_4.5_30" -use_motor "AC6" -use_thermal_duty_cycle "ACX" \
-use_stress_duty_cycle "AC6" 

# DRIVE_UNIT - ?
DRIVE_UNIT:
#
-name "AC1" -use_drive_unit_type "DSQC_346B" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 1 -node 2 -i_max 3.25 -i_thermal 1.6 \
-temp_ambient_rise_transistor 2 
#
-name "AC2" -use_drive_unit_type "DSQC_346B" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 1 -node 1 -i_max 6.7 -i_thermal 3.2 \
-temp_ambient_rise_transistor 2 
#
-name "AC3" -use_drive_unit_type "DSQC_346A" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 2 -node 1 -i_max 3.25 -i_thermal 1.6 \
-temp_ambient_rise_transistor 2 
#
-name "AC4" -use_drive_unit_type "DSQC_346B" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 1 -node 3 -i_max 1.5 -i_thermal 1 \
-temp_ambient_rise_transistor 2 
#
-name "AC5" -use_drive_unit_type "DSQC_346A" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 2 -node 2 -i_max 3.25 -i_thermal 1.6 \
-temp_ambient_rise_transistor 2 
#
-name "AC6" -use_drive_unit_type "DSQC_346A" \
-use_current_controller "c_c_fast_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 2 -node 3 -i_max 1.5 -i_thermal 1 \
-temp_ambient_rise_transistor 2 

# MOTOR - ?
MOTOR:
#
-name "AC1" -use_motor_type "CRADLE" -use_motor_calib "AC1" 
#
-name "AC2" -use_motor_type "CRADLE" -use_motor_calib "AC2" 
#
-name "AC3" -use_motor_type "CRADLE" -use_motor_calib "AC3" 
#
-name "AC4" -use_motor_type "CRADLE" -use_motor_calib "AC4" 
#
-name "AC5" -use_motor_type "CRADLE" -use_motor_calib "AC5" 
#
-name "AC6" -use_motor_type "CRADLE" -use_motor_calib "AC6" 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "CRADLE" -pole_pairs 3 -torque_0 5.7 -ke 0.4388 -i_max 11.3 \
-r_stator_20 0.67 -l_stator 0.00264 

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "AC1" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "AC2" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "AC3" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "AC4" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "AC5" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "AC6" -com_offset 1.570796 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "ACX" 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "AC1" -speed_absolute_max 345.6 -torque_absolute_max 2.5 
#
-name "AC2" -speed_absolute_max 345.6 -torque_absolute_max 5 
#
-name "AC3" -speed_absolute_max 345.6 -torque_absolute_max 2.5 
#
-name "AC4" -speed_absolute_max 345.6 -torque_absolute_max 1.2 
#
-name "AC5" -speed_absolute_max 345.6 -torque_absolute_max 2.5 
#
-name "AC6" -speed_absolute_max 345.6 -torque_absolute_max 1.2 

# UCCM0 - ?
UCCM0:
#
-name "AC1" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 
#
-name "AC2" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 
#
-name "AC3" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 
#
-name "AC4" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 
#
-name "AC5" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 
#
-name "AC6" -Kp 15 -Kv 2 -Ti 0.4 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 

# LCM0 - ?
LCM0:
#
-name "AC1" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 
#
-name "AC2" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 
#
-name "AC3" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 
#
-name "AC4" -Kp 10 -Kv 0.7 -Ti 0.1 -ffw_mode 1 
#
-name "AC5" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 
#
-name "AC6" -Kp 10 -Kv 0.7 -Ti 0.1 -ffw_mode 1 

# SINGLE_JOG - ?
SINGLE_JOG:
#
-name "AC1" -joint 1 
#
-name "AC2" -joint 2 
#
-name "AC3" -joint 3 
#
-name "AC4" -joint 1 
#
-name "AC5" -joint 2 
#
-name "AC6" -joint 3 
