MOC:CFG_1.0::

# ..\..\..\syspar/EXT_580_14_T21F41B21V21H31m1_r_pnt2.cfg
# IRB.IRB6AX.PNT_OPT.IRB580_02.T580.580_04_RIGHT.580_SING_MEAS.580_YASK.
# 
# created 2005/11/18 05:25:18 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 \
-event_preset_time 0.2 -cpu_load_added_to_dsp 0 -motion_sup_max_level 300 

# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "T580" -use_run_enable "" -use_activation_relay "" -use_brake_relay "" \
-use_single_0 "T580" -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 "580_02_2.6_5" -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 "T580" 

# 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 "T580" -use_single_type "T580" -use_joint "T580" -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 "T580" 

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

# ARM - ?
ARM:
#
-name "irb_1" -use_arm_type "IRB580_02_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 
#
-name "irb_2" -use_arm_type "IRB580_02_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.221 -lower_joint_bound -1.221 \
-upper_joint_bound_max 1.308 -lower_joint_bound_min -1.222 
#
-name "irb_3" -use_arm_type "IRB580_02_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 2.356 \
-lower_joint_bound -0.611 -upper_joint_bound_max 2.357 \
-lower_joint_bound_min -0.611 -upper_joint_coupl_bound 1.048 \
-lower_joint_coupl_bound -1.048 -cal_position 0.65833819 
#
-name "irb_4" -use_arm_type "IRB580_02_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 350 \
-lower_joint_bound_min -350 -upper_coupled_joint_bound_2 6.3 \
-lower_coupled_joint_bound_2 -6.3 
#
-name "irb_5" -use_arm_type "IRB580_02_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 350 \
-lower_joint_bound_min -350 
#
-name "irb_6" -use_arm_type "IRB580_02_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -independent_joint_on -upper_joint_bound 62.83 \
-lower_joint_bound -62.83 -upper_joint_bound_max 600 \
-lower_joint_bound_min -600 
#
-name "T580" -use_arm_type "T580" -use_acc_data "T580" \
-upper_joint_bound 3.14 -lower_joint_bound -3.14 

# ARM_CHECK_POINT - ?
ARM_CHECK_POINT:
#
-name "irb_3" -checktype "POS" -position_x -0.25 -position_y 0 \
-position_z 0.22 

# 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 "irb_1" -wc_acc 6 -wc_dec 6 
#
-name "irb_2" -wc_acc 10 -wc_dec 10 
#
-name "irb_3" -wc_acc 10 -wc_dec 10 
#
-name "irb_4" -wc_acc 15 -wc_dec 15 
#
-name "irb_5" -wc_acc 15 -wc_dec 15 
#
-name "irb_6" -wc_acc 15 -wc_dec 15 
#
-name "T580" -wc_acc 2.75 -wc_dec 2.75 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "T580" -transm_joint -202.020202 

# 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 - ?
MOTOR:
#
-name "irb_1" -use_motor_type "3HNP03386-1" -use_motor_calib "irb_1" \
-stator_cooling_factor 1.1 
#
-name "irb_2" -use_motor_type "3HNP03386-1" -use_motor_calib "irb_2" \
-stator_cooling_factor 1.1 
#
-name "irb_3" -use_motor_type "3HNP03386-1" -use_motor_calib "irb_3" \
-stator_cooling_factor 1.1 
#
-name "irb_4" -use_motor_type "3HNP04378-1" -use_motor_calib "irb_4" \
-stator_cooling_factor 0.9 
#
-name "irb_5" -use_motor_type "3HNP04378-1" -use_motor_calib "irb_5" \
-stator_cooling_factor 0.9 
#
-name "irb_6" -use_motor_type "3HNP04378-1" -use_motor_calib "irb_6" \
-stator_cooling_factor 0.9 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "IC_motor_1" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -speed1 104.72 \
-speed2 209.44 -speed3 314.16 -temp_stator_max 120 -temp_stator_rise 100 \
-temp_rotor_max 120 -temp_rotor_rise 80 -r_stator_20 5 \
-r_stator_temp_coef_20 0.0039 -l_stator 0.02 
#
-name "IC_motor_2" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -speed1 104.72 \
-speed2 209.44 -speed3 314.16 -temp_stator_max 120 -temp_stator_rise 100 \
-temp_rotor_max 120 -temp_rotor_rise 80 -r_stator_20 5 \
-r_stator_temp_coef_20 0.0039 -l_stator 0.02 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "T580" -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 "T580" -Kp 15 -Kv 4 -Ti 0.3 

# SINGLE_JOG - ?
SINGLE_JOG:
#
-name "T580_R" -joint 3 
