MOC:CFG_1.0::

# ..\..\..\syspar/INT_GPC.cfg
# IRC.LOCK_IRC_1.LOCK_IRC_2.LOCK_IRC_3.LOCK_IRC_4.LOCK_IRC_5.LOCK_IRC_6.
# 
# created 2005/11/18 05:24:43 by param_db $Revision: 40.6 $


# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "IRC" -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 

# ARM - ?
ARM:
#
-name "LOCKED_irc_1" -use_arm_type "irc_1" -use_acc_data "LOCKED" \
-use_arm_calib "irc_1" -upper_joint_bound 1 -lower_joint_bound -1 
#
-name "LOCKED_irc_2" -use_arm_type "irc_2" -use_acc_data "LOCKED" \
-use_arm_calib "irc_2" -upper_joint_bound 1 -lower_joint_bound -1 
#
-name "LOCKED_irc_3" -use_arm_type "irc_3" -use_acc_data "LOCKED" \
-use_arm_calib "irc_3" -upper_joint_bound 1 -lower_joint_bound -1 
#
-name "LOCKED_irc_4" -use_arm_type "irc_4" -use_acc_data "LOCKED" \
-use_arm_calib "irc_4" -upper_joint_bound 1 -lower_joint_bound -1 
#
-name "LOCKED_irc_5" -use_arm_type "irc_5" -use_acc_data "LOCKED" \
-use_arm_calib "irc_5" -upper_joint_bound 1 -lower_joint_bound -1 
#
-name "LOCKED_irc_6" -use_arm_type "irc_6" -use_acc_data "LOCKED" \
-use_arm_calib "irc_6" -upper_joint_bound 1 -lower_joint_bound -1 

# BRAKE_TYPE - ?
BRAKE_TYPE:
#
-name "irb_default" -inertia 0 
#
-name "small" -inertia 0 
#
-name "medium" -inertia 0 
#
-name "large" -inertia 0 
#
-name "xlarge" -inertia 0 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "LOCKED" -pole_pairs 2 -inertia 0.0001 -torque_0 1 -ke 1 -i_max 1 \
-r_stator_20 1 -l_stator 0.001 
#
-name "small" -pole_pairs 2 -inertia 0.00013 -torque_0 1.7 -ke 0.2598 \
-i_max 19 -r_stator_20 3.8 -l_stator 0.007 
#
-name "medium" -pole_pairs 3 -inertia 0.00047 -torque_0 5 -ke 0.2771 \
-i_max 36.8 -r_stator_20 0.7 -l_stator 0.0026 
#
-name "large" -pole_pairs 3 -inertia 0.00352 -torque_0 12 -ke 0.5081 \
-i_max 36.8 -r_stator_20 0.12 -l_stator 0.0015 
#
-name "xlarge" -pole_pairs 3 -inertia 0.00334 -torque_0 23 -ke 0.6062 \
-i_max 36.8 -r_stator_20 0.14 -l_stator 0.0016 

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