MOC:CFG_1.0::

# ..\..\..\syspar/MOC_UNCALIB_940.cfg
# UNCALIB.UNCALIB_940
# 
# created 2005/11/18 05:24:40 by param_db $Revision: 40.6 $


# ARM_TYPE - Type of arm
ARM_TYPE:
#
-name "irb_1" -independent_move_off -length 0.76 -offset_z 1.032 \
-attitude 0.6 -theta_home_position 0 -mass 119 -mass_centre_z -0.59 \
-inertia_x 73.9 -rear_length 0.17475 -transm_inertia 351 -max_acc 2 \
-max_acc_quota 0.9 
#
-name "irb_2" -independent_move_off -length 0.76 -offset_z 0.01 \
-theta_home_position 0 -transm_inertia 351 -max_acc 2 -max_acc_quota 0.9 
#
-name "irb_3" -independent_move_off -length 0.76 -offset_z 0.25 \
-theta_home_position 0 -transm_inertia 351 -max_acc 2 -max_acc_quota 0.9 
#
-name "irb_4" -independent_move_off -length 0.286 -mass 21.1 \
-mass_centre_z -0.05987 -inertia_x 0.172 -inertia_y 0.1071 -inertia_z 0.2087 \
-transm_inertia 1.706 -max_acc 2 -max_acc_quota 0.9 
#
-name "irb_5" -independent_move_off -mass 13.75 -mass_centre_z 0.0525 \
-inertia_x 0.05319 -inertia_y 0.0827 -inertia_z 0.0566 -transm_inertia 1.724 \
-max_acc 2 -max_acc_quota 0.9 
#
-name "irb_6" -length 0.155 -mass 1.154 -mass_centre_x -0.014 \
-inertia_x 0.002522 -inertia_y 0.001321 -inertia_z 0.001321 \
-transm_inertia 1.69 -max_acc 2 -max_acc_quota 0.9 

# ARM_CALIB - ?
ARM_CALIB:
#
-name "irb_1" 
#
-name "irb_2" 
#
-name "irb_3" 
#
-name "irb_4" 
#
-name "irb_5" 
#
-name "irb_6" 

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "irb_1" -valid_com_offset -cal_offset 0 
#
-name "irb_2" -valid_com_offset -cal_offset 0 
#
-name "irb_3" -valid_com_offset -cal_offset 0 
#
-name "irb_4" -valid_com_offset -cal_offset 0 
#
-name "irb_5" -valid_com_offset -cal_offset 0 
#
-name "irb_6" -valid_com_offset -cal_offset 0 
