MOC:CFG_1.0::

# ..\..\..\syspar/INT_Y_Z_BX.cfg
# IRC.LOCK_IRC_1.IRC_2.IRC_3.LOCK_IRC_4.IRC_5.LOCK_IRC_6.LOCKED_IRC.IRC_
# 
# created 2005/11/18 05:24:44 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 

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "irc_2" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 2 
#
-name "irc_3" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 3 
#
-name "irc_5" -use_measurement_board_type "DSQC313" -measurement_system 1 \
-board_position 1 -measurement_node 5 

# 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 "irc_2" -use_arm_type "irc_2" -use_acc_data "irc_2" \
-use_arm_calib "irc_2" -upper_joint_bound 1 -lower_joint_bound -1 \
-upper_joint_bound_max 1 -lower_joint_bound_min -1 -cal_position 0 
#
-name "irc_3" -use_arm_type "irc_3" -use_acc_data "irc_3" \
-use_arm_calib "irc_3" -upper_joint_bound 1 -lower_joint_bound -1 \
-upper_joint_bound_max 1 -lower_joint_bound_min -1 -cal_position 0 
#
-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 "irc_5" -use_arm_type "irc_5" -use_acc_data "irc_5" \
-use_arm_calib "irc_5" -upper_joint_bound 1 -lower_joint_bound -1 \
-upper_joint_bound_max 1 -lower_joint_bound_min -1 -cal_position 0 
#
-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 

# ARM_TYPE - Type of arm
ARM_TYPE:
#
-name "irc_6" -length 0 -offset_z 1 -attitude -1.5707963 \
-theta_home_position -1.5707963 

# ACC_DATA - ?
ACC_DATA:
#
-name "irc_2" -wc_acc 5 -wc_dec 8 
#
-name "irc_3" -wc_acc 10 -wc_dec 10 
#
-name "irc_5" -wc_acc 15 -wc_dec 15 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "irc_2" -transm_joint 132.5349 -high_gear 1350000 -low_gear 10186 
#
-name "irc_3" -transm_joint 174.533 -high_gear 174533 -low_gear 1000 
#
-name "irc_5" -rotating_move -transm_joint 50 -high_gear 50 -low_gear 1 

# BRAKE - ?
BRAKE:
#
-name "irc_2" -control_off_speed_limit 0.02 -control_off_delay_time 0.15 \
-brake_control_on_delay_time 0.75 -brake_control_on_min_delay_time 0.15 \
-absolute_brake_torque 0 -brake_ramp_speed_limit 0.4 -use_brake_type "small" 
#
-name "irc_3" -control_off_speed_limit 0.02 -control_off_delay_time 0.15 \
-brake_control_on_delay_time 0.75 -brake_control_on_min_delay_time 0.15 \
-absolute_brake_torque 0 -brake_ramp_speed_limit 0.4 -use_brake_type "small" 
#
-name "irc_5" -control_off_speed_limit 0.02 -control_off_delay_time 0.15 \
-brake_control_on_delay_time 0.75 -brake_control_on_min_delay_time 0.15 \
-absolute_brake_torque 0 -brake_ramp_speed_limit 0.4 -use_brake_type "small" 

# 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 

# SUPERVISION - (all parameters on motor side)
SUPERVISION:
#
-name "irc_2" -use_supervision_type "irc_2" -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 
#
-name "irc_3" -use_supervision_type "irc_3" -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 
#
-name "irc_5" -use_supervision_type "irc_5" -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 

# SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
#
-name "irc_2" -static_power_up_position_limit 3 \
-dynamic_power_up_position_limit 120 -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 0.088 \
-teach_normalized_low_speed 0.092 -teach_mode_speed_max_dsp 0.115 
#
-name "irc_3" -static_power_up_position_limit 3 \
-dynamic_power_up_position_limit 160 -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 0.14 \
-teach_normalized_low_speed 0.148 -teach_mode_speed_max_dsp 0.158 
#
-name "irc_5" -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 0.06 \
-teach_normalized_low_speed 0.063 -teach_mode_speed_max_dsp 0.078 

# DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "irc_2" -use_current_transfer_function "cur_tr_1.00" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "unit1_node2" \
-use_cable "cable_3.0_30" -use_motor "irc_2" -use_thermal_duty_cycle "irc_2" \
-use_stress_duty_cycle "irc_2" 
#
-name "irc_3" -use_current_transfer_function "cur_tr_1.00" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "unit2_node2" \
-use_cable "cable_4.5_30" -use_motor "irc_3" -use_thermal_duty_cycle "irc_3" \
-use_stress_duty_cycle "irc_3" 
#
-name "irc_5" -use_current_transfer_function "cur_tr_1.00" -use_mains "mains" \
-use_trafo "trafo_c1" -use_dc_link "dc_link_c1" -use_drive_unit "unit1_node1" \
-use_cable "cable_1.5_30" -use_motor "irc_5" -use_thermal_duty_cycle "irc_5" \
-use_stress_duty_cycle "irc_5" 

# MOTOR - ?
MOTOR:
#
-name "irc_2" -use_motor_type "small" -use_motor_calib "irc_2" \
-stator_cooling_factor 0.75 
#
-name "irc_3" -use_motor_type "small" -use_motor_calib "irc_3" \
-stator_cooling_factor 0.75 
#
-name "irc_5" -use_motor_type "small" -use_motor_calib "irc_5" \
-stator_cooling_factor 1 

# 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 

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "irc_2" 
#
-name "irc_3" 
#
-name "irc_5" 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "irc_2" -speed_absolute_max 356 -torque_absolute_max 30 
#
-name "irc_3" -speed_absolute_max 356 -torque_absolute_max 25 
#
-name "irc_5" -speed_absolute_max 200 -torque_absolute_max 4.5 

# UCCM0 - ?
UCCM0:
#
-name "irc_2" -Kp 5 -Kv 1 -Ti 10 -speed_max_n 33 -acc_max_n 100 \
-dec_max_n 100 
#
-name "irc_3" -Kp 5 -Kv 1 -Ti 10 -speed_max_n 53 -acc_max_n 100 \
-dec_max_n 100 
#
-name "irc_5" -Kp 5 -Kv 1 -Ti 10 -speed_max_n 25 -acc_max_n 100 \
-dec_max_n 100 

# LCM0 - ?
LCM0:
#
-name "irc_2" -Kp 5 -Kv 1 -Ti 10 -ffw_mode 0 -bandwidth 20 \
-resonance_frequency 100 -inertia 0.03 
#
-name "irc_3" -Kp 5 -Kv 1 -Ti 10 -ffw_mode 0 -bandwidth 20 \
-resonance_frequency 100 -inertia 0.005 
#
-name "irc_5" -Kp 5 -Kv 1 -Ti 10 -ffw_mode 0 -bandwidth 20 \
-resonance_frequency 100 -inertia 0 

# JOINT_JOG - ?
JOINT_JOG:
#
-name "default" -joint_1 2 -joint_2 -3 -joint_3 0 -joint_4 2 -joint_5 0 \
-joint_6 0 
