MOC:CFG_1.0::

# ..\..\..\syspar/EXT_ROBOFLEX_0.5_80.cfg
# IRB.IRB6AX.ROBOFLEX_BASE.ROBOFLEX_0_5_80.TUNE_ROBOFLEX_0_5_80_CM2
# 
# created 2005/11/18 05:24:46 by param_db $Revision: 40.6 $


# MOTION_SYSTEM - ?
MOTION_SYSTEM:
#
-name "system_1" -brake_on_timeout 3600000 -dynamic_resolution 1 \
-path_resolution 1 -std_servo_queue_time 0.12096 -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 

# 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 "irb_Y_EY_DY_CZ_BY_AZ" -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 3.14159 -base_mass 0 \
-base_mass_centre_x 0 -base_mass_centre_y 0 -base_mass_centre_z 0 

# 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 "irb_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 0.3 -lower_joint_bound -2.9 \
-upper_joint_bound_max 0.5 -lower_joint_bound_min -7.7 
#
-name "irb_2" -use_arm_type "irb_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.6 -lower_joint_bound -0.3491 \
-upper_joint_bound_max 2.3562 -lower_joint_bound_min -2.3562 
#
-name "irb_3" -use_arm_type "irb_3" -use_acc_data "irb_3" \
-use_arm_calib "irb_3" -upper_joint_bound 0.6981 -lower_joint_bound -3.141593 \
-upper_joint_bound_max 1.571 -lower_joint_bound_min -4.712 
#
-name "irb_4" -use_arm_type "irb_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -upper_joint_bound 6.28 -lower_joint_bound -6.28 \
-upper_joint_bound_max 6.28 -lower_joint_bound_min -6.28 
#
-name "irb_5" -use_arm_type "irb_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -upper_joint_bound 2.094 -lower_joint_bound -2.094 \
-upper_joint_bound_max 2.094 -lower_joint_bound_min -2.094 \
-load_id_acc_ratio 0.8 
#
-name "irb_6" -use_arm_type "irb_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -upper_joint_bound 6.28 -lower_joint_bound -6.28 \
-upper_joint_bound_max 6.28 -lower_joint_bound_min -6.28 -load_id_acc_ratio 1 

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

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

# BRAKE_TYPE - ?
BRAKE_TYPE:
#
-name "irb_1" -inertia 0 -min_torque_1 41 -min_torque_2 41 -min_torque_3 41 \
-max_torque_1 69.7 -max_torque_2 69.7 -max_torque_3 69.7 -speed_1 0 \
-speed_2 250 -speed_3 510 
#
-name "irb_2" -inertia 0 -min_torque_1 41 -min_torque_2 41 -min_torque_3 41 \
-max_torque_1 69.7 -max_torque_2 69.7 -max_torque_3 69.7 -speed_1 0 \
-speed_2 250 -speed_3 510 
#
-name "irb_3" -inertia 0 -min_torque_1 22 -min_torque_2 22 -min_torque_3 22 \
-max_torque_1 33 -max_torque_2 33 -max_torque_3 33 -speed_1 0 -speed_2 250 \
-speed_3 510 
#
-name "irb_4" -inertia 0 -min_torque_1 13 -min_torque_2 13 -min_torque_3 13 \
-max_torque_1 19.5 -max_torque_2 19.5 -max_torque_3 19.5 -speed_1 0 \
-speed_2 250 -speed_3 510 
#
-name "irb_5" -inertia 0 -min_torque_1 12 -min_torque_2 12 -min_torque_3 12 \
-max_torque_1 18 -max_torque_2 18 -max_torque_3 18 -speed_1 0 -speed_2 250 \
-speed_3 510 
#
-name "irb_6" -inertia 0 -min_torque_1 4 -min_torque_2 4 -min_torque_3 4 \
-max_torque_1 6 -max_torque_2 6 -max_torque_3 6 -speed_1 0 -speed_2 250 \
-speed_3 510 

# 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 "1FK7103" -pole_pairs 4 -inertia 0.0118 -torque_0 36 -ke 0.779 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 84 \
-torque_losses_at_speed1 0.77 -torque_losses_at_speed2 0.89 \
-torque_losses_at_speed3 1.12 -speed1 26 -speed2 157 -speed3 290 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.09 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.002 
#
-name "1FK7105" -pole_pairs 4 -inertia 0.0169 -torque_0 48 -ke 0.906 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 99 \
-torque_losses_at_speed1 0.58 -torque_losses_at_speed2 0.8 \
-torque_losses_at_speed3 0.99 -speed1 26 -speed2 157 -speed3 314 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.074 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0019 
#
-name "1FK7085" -pole_pairs 4 -inertia 0.0025 -torque_0 22 -ke 0.554 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 80 \
-torque_losses_at_speed1 0.45 -torque_losses_at_speed2 0.45 \
-torque_losses_at_speed3 0.53 -speed1 26 -speed2 157 -speed3 290 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.12 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0033 
#
-name "1FK7063" -pole_pairs 4 -inertia 0.00173 -torque_0 11 -ke 0.791 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 28 \
-torque_losses_at_speed1 0.25 -torque_losses_at_speed2 0.3 \
-torque_losses_at_speed3 0.38 -speed1 26 -speed2 157 -speed3 314 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.65 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0077 
#
-name "1FK7061_45" -pole_pairs 3 -inertia 0.000374 -torque_0 6.4 -ke 0.404 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 25.3 \
-torque_losses_at_speed1 0.1 -torque_losses_at_speed2 0.11 \
-torque_losses_at_speed3 0.12 -speed1 26 -speed2 209 -speed3 470 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.36 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.0096 
#
-name "1FK7044" -pole_pairs 3 -inertia 0.000141 -torque_0 4 -ke 0.364 \
-ke_temp_coef_20 0.001 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 20 \
-torque_losses_at_speed1 0.05 -torque_losses_at_speed2 0.06 \
-torque_losses_at_speed3 0.07 -speed1 26 -speed2 209 -speed3 470 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.81 -r_stator_temp_coef_20 0.0039 \
-l_stator 0.011 

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "irb_1" -com_offset 3.403 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "irb_2" -com_offset 3.403 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "irb_3" -com_offset 3.403 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "irb_4" -com_offset 3.403 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "irb_5" -com_offset 3.52 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 
#
-name "irb_6" -com_offset 3.52 -valid_com_offset -cal_offset 0 \
-valid_cal_offset 

# CFRIC_BLOCK - ?
CFRIC_BLOCK:
#
-name "CFric_1" -friction_ff_level 2 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_2" -friction_ff_level 2 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_3" -friction_ff_level 2 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_4" -friction_ff_level 1 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_5" -friction_ff_level 1 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
#
-name "CFric_6" -friction_ff_level 1 -servo_tune_id_level 5 \
-servo_tune_id_ramp 6 
