MOC:CFG_1.0::

# ..\..\..\syspar/INT_5400_07_T31F51B11m1V11H11_rl_pnt.cfg
# IRB.IRB6AX.PNT_OPT.IRB5400_02.IRB78_TR_GKIN.LOCKED_JOINT.IRB78_RoCNV.I
# 
# created 2005/11/18 05:25:09 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 
#
-name "IRB_78" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "" -use_robot "IRB_78" -user_frame_moved_by "" \
-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 "3HAB3635-2" -use_motor_calib "irb_1" \
-stator_cooling_factor 1.1 
#
-name "irb_2" -use_motor_type "3HAB3635-2" -use_motor_calib "irb_2" \
-stator_cooling_factor 1.1 
#
-name "irb_3" -use_motor_type "3HAB3635-2" -use_motor_calib "irb_3" \
-stator_cooling_factor 1.1 
#
-name "irb_4" -use_motor_type "3HAB5558-1" -use_motor_calib "irb_4" \
-stator_cooling_factor 0.9 
#
-name "irb_5" -use_motor_type "3HAB5558-1" -use_motor_calib "irb_5" \
-stator_cooling_factor 0.9 
#
-name "irb_6" -use_motor_type "3HAB5558-1" -use_motor_calib "irb_6" \
-stator_cooling_factor 0.9 
#
-name "irb_7" -use_motor_type "3HNM00255-1" -use_motor_calib "irb_7" \
-stator_cooling_factor 1 
#
-name "irb_8" -use_motor_type "3HAB8278-1" -use_motor_calib "irb_8" \
-stator_cooling_factor 1 

# LINEAR_JOG - ?
LINEAR_JOG:
#
-name "default" -cart_lin_no_fix_world_1 -1 -cart_lin_no_fix_world_2 3 \
-cart_lin_no_fix_world_3 2 -cart_lin_no_fix_base_1 -1 \
-cart_lin_no_fix_base_2 3 -cart_lin_no_fix_base_3 2 \
-cart_lin_no_fix_tool_1 -1 -cart_lin_no_fix_tool_2 3 \
-cart_lin_no_fix_tool_3 2 -cart_lin_no_fix_wobj_1 -1 \
-cart_lin_no_fix_wobj_2 3 -cart_lin_no_fix_wobj_3 2 -cart_lin_fix_world_1 -1 \
-cart_lin_fix_world_2 3 -cart_lin_fix_world_3 2 -cart_lin_fix_base_1 -1 \
-cart_lin_fix_base_2 3 -cart_lin_fix_base_3 2 -cart_lin_fix_tool_1 -1 \
-cart_lin_fix_tool_2 3 -cart_lin_fix_tool_3 2 -cart_lin_fix_wobj_1 -1 \
-cart_lin_fix_wobj_2 3 -cart_lin_fix_wobj_3 2 

# REORIENT_JOG - ?
REORIENT_JOG:
#
-name "default" -cart_orient_no_fix_world_1 -2 -cart_orient_no_fix_world_2 3 \
-cart_orient_no_fix_world_3 -1 -cart_orient_no_fix_base_1 -2 \
-cart_orient_no_fix_base_2 3 -cart_orient_no_fix_base_3 -1 \
-cart_orient_no_fix_tool_1 -2 -cart_orient_no_fix_tool_2 3 \
-cart_orient_no_fix_tool_3 -1 -cart_orient_no_fix_wobj_1 -2 \
-cart_orient_no_fix_wobj_2 3 -cart_orient_no_fix_wobj_3 -1 \
-cart_orient_fix_world_1 -2 -cart_orient_fix_world_2 3 \
-cart_orient_fix_world_3 -1 -cart_orient_fix_base_1 -2 \
-cart_orient_fix_base_2 3 -cart_orient_fix_base_3 -1 \
-cart_orient_fix_tool_1 -2 -cart_orient_fix_tool_2 3 \
-cart_orient_fix_tool_3 -1 -cart_orient_fix_wobj_1 -2 \
-cart_orient_fix_wobj_2 3 -cart_orient_fix_wobj_3 -1 

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

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