MOC:CFG_1.0::

# ..\..\..\syspar/EXT_540_02_T00F11B21V21m1H21m1_pnt.cfg
# IRB.IRB6AX.PNT_OPT.IRB540_02.H_ARM_1000.540_V21M1
# 
# created 2005/11/18 05:25:14 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 0.193536 -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 \
-event_preset_time 0.2 -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 "IRB540_02" -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" 

# 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 "IRB540_02_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 2.617994 \
-lower_joint_bound -2.617994 -upper_joint_bound_max 2.617994 \
-lower_joint_bound_min -2.617994 
#
-name "irb_2" -use_arm_type "IRB540_02_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 1.22173 -lower_joint_bound -1.22173 \
-upper_joint_bound_max 1.308 -lower_joint_bound_min -1.22173 
#
-name "irb_3" -use_arm_type "IRB540_02_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 2.356194 \
-lower_joint_bound -0.610865 -upper_joint_bound_max 2.356194 \
-lower_joint_bound_min -0.610865 -upper_joint_coupl_bound 1.047198 \
-lower_joint_coupl_bound -1.047198 -cal_position 0.26127579 
#
-name "irb_4" -use_arm_type "IRB540_02_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -upper_joint_bound 0.02734 -lower_joint_bound -0.02734 \
-upper_joint_bound_max 0.02734 -lower_joint_bound_min -0.02734 
#
-name "irb_5" -use_arm_type "IRB540_02_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -upper_joint_bound 0.02734 -lower_joint_bound -0.02734 \
-upper_joint_bound_max 0.02734 -lower_joint_bound_min -0.02734 
#
-name "irb_6" -use_arm_type "IRB540_02_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -upper_joint_bound 5.37 -lower_joint_bound -5.37 \
-upper_joint_bound_max 5.37 -lower_joint_bound_min -5.37 

# ARM_CHECK_POINT - ?
ARM_CHECK_POINT:
#
-name "irb_3" -checktype "POS" -position_x -0.25 -position_y 0 \
-position_z 0.22 

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

# ACC_DATA - ?
ACC_DATA:
#
-name "irb_1" -wc_acc 9 -wc_dec 9 
#
-name "irb_2" -wc_acc 9 -wc_dec 9 
#
-name "irb_3" -wc_acc 15 -wc_dec 15 
#
-name "irb_4" -wc_acc 1 -wc_dec 1 
#
-name "irb_5" -wc_acc 1 -wc_dec 1 
#
-name "irb_6" -wc_acc 25 -wc_dec 25 

# 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 - ?
MOTOR:
#
-name "irb_1" -use_motor_type "3HAB5506-1" -use_motor_calib "irb_1" \
-stator_cooling_factor 1.1 
#
-name "irb_2" -use_motor_type "3HAB5506-1" -use_motor_calib "irb_2" \
-stator_cooling_factor 1.1 
#
-name "irb_3" -use_motor_type "3HAB5506-1" -use_motor_calib "irb_3" \
-stator_cooling_factor 1.1 
#
-name "irb_4" -use_motor_type "3HAB5557-1" -use_motor_calib "irb_4" \
-stator_cooling_factor 0.9 
#
-name "irb_5" -use_motor_type "3HAB5557-1" -use_motor_calib "irb_5" \
-stator_cooling_factor 0.9 
#
-name "irb_6" -use_motor_type "3HAB5558-1" -use_motor_calib "irb_6" \
-stator_cooling_factor 0.9 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "IC_motor_1" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -speed1 104.72 \
-speed2 209.44 -speed3 314.16 -temp_stator_max 120 -temp_stator_rise 100 \
-temp_rotor_max 120 -temp_rotor_rise 80 -r_stator_20 5 \
-r_stator_temp_coef_20 0.0039 -l_stator 0.02 
#
-name "IC_motor_2" -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -speed1 104.72 \
-speed2 209.44 -speed3 314.16 -temp_stator_max 120 -temp_stator_rise 100 \
-temp_rotor_max 120 -temp_rotor_rise 80 -r_stator_20 5 \
-r_stator_temp_coef_20 0.0039 -l_stator 0.02 
