MOC:CFG_1.0::

# ..\..\..\syspar/EXT_X_Y_Z_BX.cfg
# IRC.IRC_1.IRC_2.IRC_3.LOCK_IRC_4.IRC_5.LOCK_IRC_6.LOCKED_IRC.IRC_X_Y_Z
# 
# created 2005/11/18 05:24:43 by param_db $Revision: 40.6 $


# MOTION_SYSTEM - ?
MOTION_SYSTEM:
#
-name "system_1" -brake_on_timeout 3600000 -dynamic_resolution 1 \
-path_resolution 2 -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" -cpu_load_added_to_dsp 0 \
-motion_sup_max_level 300 

# 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 "IRC_X_Y_Z_BX" -use_joint_0 "irc_1" \
-use_joint_1 "irc_2" -use_joint_2 "irc_3" -use_joint_3 "LOCKED_irc_4" \
-use_joint_4 "irc_5" -use_joint_5 "LOCKED_irc_6" 

# ARM_CALIB - ?
ARM_CALIB:
#
-name "irc_1" 
#
-name "irc_2" 
#
-name "irc_3" 
#
-name "irc_4" 
#
-name "irc_5" 
#
-name "irc_6" 

# 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_CALIB - ?
MOTOR_CALIB:
#
-name "irc_1" -valid_com_offset -cal_offset 0 -valid_cal_offset 
#
-name "irc_2" -valid_com_offset -cal_offset 0 -valid_cal_offset 
#
-name "irc_3" -valid_com_offset -cal_offset 0 -valid_cal_offset 
#
-name "irc_4" -valid_com_offset -cal_offset 0 -valid_cal_offset 
#
-name "irc_5" -valid_com_offset -cal_offset 0 -valid_cal_offset 
#
-name "irc_6" -valid_com_offset -cal_offset 0 -valid_cal_offset 

# LINEAR_JOG - ?
LINEAR_JOG:
#
-name "default" -cart_lin_no_fix_world_1 -2 -cart_lin_no_fix_world_3 -1 \
-cart_lin_no_fix_base_1 -2 -cart_lin_no_fix_base_3 -1 \
-cart_lin_no_fix_wobj_1 -2 -cart_lin_no_fix_wobj_3 -1 

# REORIENT_JOG - ?
REORIENT_JOG:
#
-name "default" -cart_orient_no_fix_world_1 0 -cart_orient_no_fix_world_2 0 \
-cart_orient_no_fix_world_3 0 -cart_orient_no_fix_base_1 0 \
-cart_orient_no_fix_base_2 0 -cart_orient_no_fix_base_3 0 \
-cart_orient_no_fix_tool_1 0 -cart_orient_no_fix_tool_2 0 \
-cart_orient_no_fix_tool_3 0 -cart_orient_no_fix_wobj_1 0 \
-cart_orient_no_fix_wobj_2 0 -cart_orient_no_fix_wobj_3 0 

# SINGLE_JOG - ?
SINGLE_JOG:
#
-name "default" 
