MOC:CFG_1.0::

# ..\..\..\syspar/EXT_5400_04_T21m1F41B11V12H11_r_pnt.cfg
# IRB.IRB6AX.PNT_OPT.IRB5400_02.T5400.5400_04_RIGHT.T5400_unDyn
# 
# created 2005/11/18 05:25:06 by param_db $Revision: 40.6 $


# MOTION_SYSTEM - ?
MOTION_SYSTEM:
#
-name "system_1" -brake_on_timeout 3600000 -dynamic_resolution 1 \
-path_resolution 1 -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" -event_preset_time 0.2 \
-cpu_load_added_to_dsp 0 -cpu_load_equalization 3 -motion_sup_max_level 300 

# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "T5400" -use_run_enable "" -use_activation_relay "" -use_brake_relay "" \
-use_single_0 "T5400" -user_frame_moved_by "" -stand_by_state \
-activate_at_start_up -do_not_allow_deactivation 

# 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 "IRB5400_02" -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" -base_frame_orient_u0 0.707106781 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 \
-base_frame_orient_u3 0.707106781 -base_frame_coordinated "T5400" 

# 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 

# SINGLE - ?
SINGLE:
#
-name "T5400" -use_single_type "T5400" -use_joint "T5400" -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 "T5400" 

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

# ARM - ?
ARM:
#
-name "irb_1" -use_arm_type "IRB5400_HLW_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 2.617 -lower_joint_bound -2.617 \
-upper_joint_bound_max 2.618 -lower_joint_bound_min -2.618 \
-cal_position 0.698132 
#
-name "irb_2" -use_arm_type "IRB5400_HLW_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.57 -lower_joint_bound -1.221 \
-upper_joint_bound_max 1.571 -lower_joint_bound_min -1.222 
#
-name "irb_3" -use_arm_type "IRB5400_HLW_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 2.879 \
-lower_joint_bound -2.53 -upper_joint_bound_max 2.88 \
-lower_joint_bound_min -2.531 -upper_joint_coupl_bound 1.309 \
-lower_joint_coupl_bound -1.309 -cal_position 1.047198 
#
-name "irb_4" -use_arm_type "IRB5400_HLW_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -independent_joint_on -upper_joint_bound 12.56 \
-lower_joint_bound -12.56 -upper_joint_bound_max 905 \
-lower_joint_bound_min -905 -upper_coupled_joint_bound_2 6.3 \
-lower_coupled_joint_bound_2 -6.3 
#
-name "irb_5" -use_arm_type "IRB5400_HLW_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -independent_joint_on -upper_joint_bound 12.56 \
-lower_joint_bound -12.56 -upper_joint_bound_max 905 \
-lower_joint_bound_min -905 
#
-name "irb_6" -use_arm_type "IRB5400_HLW_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -independent_joint_on -upper_joint_bound 912 \
-lower_joint_bound -912 -upper_joint_bound_max 1408 \
-lower_joint_bound_min -1408 
#
-name "T5400" -use_arm_type "T5400" -use_acc_data "T5400" \
-upper_joint_bound 3.14 -lower_joint_bound -3.14 

# ARM_CHECK_POINT - ?
ARM_CHECK_POINT:
#
-name "irb_3" -checktype "POS" -position_x -0.4 -position_y 0 \
-position_z 0.265 

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

# ACC_DATA - ?
ACC_DATA:
#
-name "T5400" -wc_acc 2.75 -wc_dec 2.75 

# 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 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "T5400" -torque_turbo_acc 35 -torque_turbo_dec 35 -torque_max_acc 35 \
-torque_max_dec 35 -speed_absolute_max 314.1 -torque_absolute_max 100000 \
-optimal_gear_box_torque 

# LCM0 - ?
LCM0:
#
-name "T5400" -Kp 15 -Kv 4 -Ti 0.3 

# SINGLE_JOG - ?
SINGLE_JOG:
#
-name "T5400_R" -joint 3 
