MOC:CFG_1.0::

# ..\..\..\syspar/INT_840_LINEAR_65.cfg
# IRB.LOCK_IRB_1.GTY2.GTY3.LOCK_IRB_4.LOCK_IRB_5.LOCK_IRB_6.LOCKED_JOINT
# 
# created 2005/11/18 05:24:43 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" 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "irb_2" -transm_joint -132.5349 -high_gear -1350000 -low_gear 10186 
#
-name "irb_3" -transm_joint 174.533 -high_gear 174533 -low_gear 1000 

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

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "irb_2" -int_turbo_acc 0.025 -int_turbo_dec 0.025 -int_max_acc 0.025 \
-int_max_dec 0.025 
#
-name "irb_3" -int_turbo_acc 0.035 -int_turbo_dec 0.035 -int_max_acc 0.035 \
-int_max_dec 0.035 

# LINEAR_JOG - ?
LINEAR_JOG:
#
-name "default" -cart_lin_no_fix_world_1 -2 -cart_lin_no_fix_world_3 0 \
-cart_lin_no_fix_base_1 -2 -cart_lin_no_fix_base_3 0 \
-cart_lin_no_fix_wobj_1 -2 -cart_lin_no_fix_wobj_3 0 

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

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

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