MOC:CFG_1.0:4:0::

# ..\..\..\syspar/EXT_M7C1B1_T.cfg
# M7C1B1_T
# 
# created 2005/11/18 05:24:57 by param_db $Revision: 40.6 $


# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "M7C1B1_T" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "" -use_single_0 "M7C1B1_T" -user_frame_moved_by "" \
-stand_by_state 

# SINGLE - ?
SINGLE:
#
-name "M7C1B1_T" -use_single_type "M7C1B1_T" -use_joint "M7C1B1_T" \
-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 

# SINGLE_TYPE - ?
SINGLE_TYPE:
#
-name "M7C1B1_T" -mechanics "TRACK" 

# JOINT - ?
JOINT:
#
-name "M7C1B1_T" -logical_axis 7 -use_measurement_channel "M7C1B1_T" \
-use_axc_filter "M7C1B1_T" -use_arm "M7C1B1_T" -use_transmission "M7C1B1_T" \
-use_brake "M7C1B1_T" -use_supervision "M7C1B1_T" \
-use_drive_system "M7C1B1_T" -connector_board 1 \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "M7C1B1_T" \
-normal_control_master_type "LCM0" -use_normal_control_master "M7C1B1_T" 

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "M7C1B1_T" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 2 -measurement_node 7 

# ARM - ?
ARM:
#
-name "M7C1B1_T" -use_arm_type "M7C1B1_T" -use_acc_data "M7C1B1_T" \
-upper_joint_bound 3.14 -lower_joint_bound -3.14 

# ARM_TYPE - Type of arm
ARM_TYPE:
#
-name "M7C1B1_T" 

# ACC_DATA - ?
ACC_DATA:
#
-name "M7C1B1_T" -wc_acc 2.5 -wc_dec 2.5 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "M7C1B1_T" -transm_joint 123.456 

# BRAKE - ?
BRAKE:
#
-name "M7C1B1_T" -control_off_speed_limit 1 -control_off_delay_time 0.1 

# SUPERVISION - (all parameters on motor side)
SUPERVISION:
#
-name "M7C1B1_T" -use_supervision_type "M7C1B1_T" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 

# SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
#
-name "M7C1B1_T" -static_power_up_position_limit 3 \
-dynamic_power_up_position_limit 150 -static_position_limit 3 \
-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \
-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \
-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \
-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28 

# AXC_FILTER - ?
AXC_FILTER:
#
-name "M7C1B1_T" -use_feedback_iir2_filter "LP_496" \
-use_speed_error_iir2_filter "NOTCH_248" \
-use_controllable_iir2_filter "VAR_LAG_16_72" \
-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25" 

# DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "M7C1B1_T" -use_current_transfer_function "cur_tr_1.00" \
-use_mains "mains" -use_trafo "trafo_c1" -use_dc_link "dc_link_c1" \
-use_drive_unit "M7C1B1" -use_cable "cable_4.5_30" -use_motor "M7C1B1_T" \
-use_thermal_duty_cycle "M7C1B1_T" -use_stress_duty_cycle "M7C1B1_T" 

# MOTOR - ?
MOTOR:
#
-name "M7C1B1_T" -use_motor_type "M7C1B1_T" -use_motor_calib "M7C1B1_T" 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "M7C1B1_T" -pole_pairs 3 -torque_0 18 -ke 0.51 -i_max 36.8 \
-r_stator_20 0.125 -l_stator 0.0017 

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "M7C1B1_T" -com_offset 1.570796 -valid_com_offset -cal_offset 0 

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "M7C1B1_T" 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "M7C1B1_T" -speed_absolute_max 314.1 -torque_absolute_max 1.5 

# UCCM0 - ?
UCCM0:
#
-name "M7C1B1_T" -Kp 10 -Kv 0.2 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 

# LCM0 - ?
LCM0:
#
-name "M7C1B1_T" -Kp 10 -Kv 0.2 -Ti 0.1 
