MOC:CFG_1.0::



MECHANICAL_UNIT:
-name "CNV4" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "" -use_single_0 "CNV4" -user_frame_moved_by "CNV4" 

SINGLE:
-name "CNV4" -use_single_type "CNV4" -use_joint "CNV4" \
-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:
-name "CNV4" -mechanics "EXT_LIN" -process_name "CNV4" 

JOINT:
-name "CNV4" -logical_axis 9 -use_measurement_channel "CNV4" \
-use_axc_filter "CNV4" -use_arm "CNV4" -use_transmission "CNV4" \
-use_brake "" -use_supervision "CNV4" -use_drive_system "CNV4" \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "CNV4" -normal_control_master_type "LCM0" \
-use_normal_control_master "CNV4" -lock_joint_in_hardware \
-lock_joint_in_ipol -lock_joint_in_servo 

MEASUREMENT_CHANNEL:
-name "CNV4" -measurement_node 4 

ARM:
-name "CNV4" -use_arm_type "CNV4" -use_acc_data "CNV4" \
-upper_joint_bound 1256634 -lower_joint_bound -1256634 

ARM_TYPE:
-name "CNV4" 

ACC_DATA:
-name "CNV4" -wc_acc 2.5 -wc_dec 2.5 

TRANSMISSION:
-name "CNV4" -transm_joint 1 

SUPERVISION:
-name "CNV4" -use_supervision_type "CNV4" -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_on 

SUPERVISION_TYPE:
-name "CNV4" -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:
-name "CNV4" -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" \
-position_controller_mode_4ms 

DRIVE_SYSTEM:
-name "CNV4" -external -use_current_transfer_function "" -use_mains "" \
-use_trafo "" -use_dc_link "" -use_drive_unit "CNV4" -use_cable "" \
-use_motor "CNV4" -use_thermal_duty_cycle "" \
-use_stress_duty_cycle "CNV4" 

DRIVE_UNIT:
-name "CNV4" -use_drive_unit_type "NO_TYPE" \
-use_current_controller "c_c_slow_1" -use_drive_unit_supervision "d_u_sup" \
-drive_system 1 -unit_position 7 -node 2 -i_max 36.77 -i_thermal 14.3 \
-temp_ambient_rise_transistor 2 

MOTOR:
-name "CNV4" -use_motor_type "CNV4" -use_motor_calib "CNV4" 

MOTOR_TYPE:
-name "CNV4" -pole_pairs 3 -torque_0 1 -ke 1 -i_max 2 -r_stator_20 5 \
-l_stator 0.02 

MOTOR_CALIB:
-name "CNV4" -com_offset 1.570796 -valid_com_offset -cal_offset 0 

STRESS_DUTY_CYCLE:
-name "CNV4" -speed_absolute_max 314.1 -torque_absolute_max 1.5 

UCCM0:
-name "CNV4" -Kp 10 -Kv 0.2 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100 

LCM0:
-name "CNV4" -Kp 10 -Kv 0.2 -Ti 0.1 
