MOC:CFG_1.0::

# ..\..\..\syspar/EXT_VOY7600_2.55_500.cfg
# IRB.IRB6AX.VOY_BASE.VOY7600_2_55_500.TUNE7600_2_55_500_CM2.SIS7600_2_5
# 
# created 2005/11/18 05:24:39 by param_db $Revision: 40.6 $


# MOTION_SYSTEM - ?
MOTION_SYSTEM:
#
-name "system_1" -brake_on_timeout 3600000 -dynamic_resolution 1 \
-path_resolution 1.3 -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" -dyn_ipol_opt_path_strength 0.6 \
-cpu_load_added_to_dsp 0 -motion_sup_max_level 300 \
-emergency_stop_delay_time 0.02 -use_sis "sis" 

# 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 "7600_2.55_500" -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" -gravity_beta 0 -base_mass 308 \
-base_mass_centre_x 0 -base_mass_centre_y 0 -base_mass_centre_z 0.1011 

# 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 

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

# ARM - ?
ARM:
#
-name "irb_1" -use_arm_type "VOY_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 3.141593 \
-lower_joint_bound -3.141593 -upper_joint_bound_max 3.141593 \
-lower_joint_bound_min -3.141593 
#
-name "irb_2" -use_arm_type "VOY_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.48353 \
-lower_joint_bound -1.047198 -upper_joint_bound_max 1.48353 \
-lower_joint_bound_min -1.047198 
#
-name "irb_3" -use_arm_type "VOY_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 1.047198 \
-lower_joint_bound -3.141593 -upper_joint_bound_max 1.047198 \
-lower_joint_bound_min -3.141593 
#
-name "irb_4" -use_arm_type "VOY_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -upper_joint_bound 5.235988 \
-lower_joint_bound -5.235988 -upper_joint_bound_max 5.235988 \
-lower_joint_bound_min -5.235988 
#
-name "irb_5" -use_arm_type "VOY_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -upper_joint_bound 1.74533 -lower_joint_bound -1.74533 \
-upper_joint_bound_max 1.74533 -lower_joint_bound_min -1.74533 \
-load_id_acc_ratio 0.7 
#
-name "irb_6" -use_arm_type "VOY_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -upper_joint_bound 6.283186 \
-lower_joint_bound -6.283186 -upper_joint_bound_max 426 \
-lower_joint_bound_min -426 -load_id_acc_ratio 0.8 

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

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

# 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 
#
-name "3HAC14673-1" -pole_pairs 4 -inertia 0.006052 -torque_0 30.5 -ke 0.7829 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 57 \
-torque_losses_at_speed1 0.23 -torque_losses_at_speed2 0.4 \
-torque_losses_at_speed3 0.5 -speed1 5 -speed2 217 -speed3 435 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.125 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0017 
#
-name "3HAC14673-2" -pole_pairs 4 -inertia 0.003692 -torque_0 17.2 -ke 0.8529 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 26 \
-torque_losses_at_speed1 0.16 -torque_losses_at_speed2 0.29 \
-torque_losses_at_speed3 0.32 -speed1 5 -speed2 186 -speed3 372 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.31 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00378 
#
-name "3HAC14673-3" -pole_pairs 4 -inertia 0.000912 -torque_0 8.3 -ke 0.5061 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 26 \
-torque_losses_at_speed1 0.1 -torque_losses_at_speed2 0.2 \
-torque_losses_at_speed3 0.24 -speed1 5 -speed2 250 -speed3 501 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.404 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0027 
#
-name "3HAC14673-6" -pole_pairs 4 -inertia 0.004292 -torque_0 21.7 -ke 0.6076 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 57 \
-torque_losses_at_speed1 0.18 -torque_losses_at_speed2 0.33 \
-torque_losses_at_speed3 0.4 -speed1 5 -speed2 212 -speed3 425 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.14 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00162 
#
-name "3HAC14673-7" -pole_pairs 4 -inertia 0.001482 -torque_0 12.2 -ke 0.8761 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 26 \
-torque_losses_at_speed1 0.14 -torque_losses_at_speed2 0.19 \
-torque_losses_at_speed3 0.22 -speed1 5 -speed2 110 -speed3 220 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.54 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0046 
#
-name "3HAC14673-8" -pole_pairs 4 -inertia 0.000632 -torque_0 6.5 -ke 0.5012 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 26 \
-torque_losses_at_speed1 0.08 -torque_losses_at_speed2 0.12 \
-torque_losses_at_speed3 0.14 -speed1 5 -speed2 225 -speed3 550 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.675 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0043 
#
-name "3HAC14673-9" -pole_pairs 4 -inertia 0.004872 -torque_0 25 -ke 0.6208 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 57 \
-torque_losses_at_speed1 0.2 -torque_losses_at_speed2 0.36 \
-torque_losses_at_speed3 0.45 -speed1 5 -speed2 236 -speed3 472 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.118 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0014 
#
-name "3HAC14673-10" -pole_pairs 4 -inertia 0.002042 -torque_0 14.5 \
-ke 0.9549 -ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 \
-ke_tolerance_min -0.05 -ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 26 \
-torque_losses_at_speed1 0.17 -torque_losses_at_speed2 0.23 \
-torque_losses_at_speed3 0.28 -speed1 5 -speed2 110 -speed3 220 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.463 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0038 
#
-name "3HAC14673-11" -pole_pairs 4 -inertia 0.006052 -torque_0 28 -ke 0.687 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 57 \
-torque_losses_at_speed1 0.22 -torque_losses_at_speed2 0.38 \
-torque_losses_at_speed3 0.48 -speed1 5 -speed2 225 -speed3 450 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.1 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00129 
#
-name "3HAC12638-1" -pole_pairs 4 -inertia 0.00058 -torque_0 12.5 -ke 0.635 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 15.5 \
-torque_losses_at_speed1 0.49 -torque_losses_at_speed2 0.59 \
-torque_losses_at_speed3 0.69 -speed1 5 -speed2 174 -speed3 348 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.69 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00327 
#
-name "3HAC12638-3" -pole_pairs 4 -inertia 0.00047 -torque_0 6.8 -ke 0.473 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 12.3 \
-torque_losses_at_speed1 0.49 -torque_losses_at_speed2 0.59 \
-torque_losses_at_speed3 0.69 -speed1 5 -speed2 182 -speed3 364 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.56 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00248 
#
-name "3HAC14673-MX" -pole_pairs 4 -inertia 0.0072 -torque_0 37.5 -ke 0.89489 \
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.02 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.02 -i_max 55 \
-torque_losses_at_speed1 0.4 -torque_losses_at_speed2 0.3 \
-torque_losses_at_speed3 0.3 -speed1 5 -speed2 183 -speed3 366 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.141 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.00183 

# CFRIC_BLOCK - ?
CFRIC_BLOCK:
#
-name "CFric_1" -friction_ff_level 2.8 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_2" -friction_ff_level 3.9 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_3" -friction_ff_level 3.9 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_4" -friction_ff_level 2.4 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_5" -friction_ff_level 1.65 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_6" -friction_ff_level 1.3 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 

# SIS_EXTERNAL - ?
SIS_EXTERNAL:
#
-name "sis_param" -prod_time_service_interval 20000 \
-calender_time_service_interval 1 -prod_time_warning_level 0 \
-calender_time_warning_level 0 -gear_box_warning_level 100 
