MOC:CFG_1.0::

# ..\..\..\syspar/EXT_5400_17_T31F51B13m1V13H13_rr_pnt3.cfg
# IRB.IRB6AX.PNT.IRB5400_10.5400_B13m1.T31F51
# 
# created 2005/11/18 05:25:11 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 \
-dyn_ipol_decbuf_type "OPTIMAL_PATH" -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 "IRB5400" -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" -base_frame_coordinated "master2" 
#
-name "master2" -use_robot_type "IRB78" -use_joint_0 "irb_7R" \
-use_joint_1 "irb_8Rn" -base_frame_orient_u0 0.5 -base_frame_orient_u1 0.5 \
-base_frame_orient_u2 0.5 -base_frame_orient_u3 0.5 -use_joint_jog "IRB78R" 

# 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 "IRB5400_1" -use_acc_data "irb_1" \
-use_arm_calib "irb_1" -upper_joint_bound 1.6282 -lower_joint_bound -1.6282 \
-upper_joint_bound_max 2.618 -lower_joint_bound_min -2.618 -cal_position 0 
#
-name "irb_2" -use_arm_type "IRB5400_2" -use_acc_data "irb_2" \
-use_arm_calib "irb_2" -upper_joint_bound 2.617 -lower_joint_bound -1.221 \
-upper_joint_bound_max 2.618 -lower_joint_bound_min -1.222 
#
-name "irb_3" -use_arm_type "IRB5400_3" -use_acc_data "irb_3" \
-use_check_point "irb_3" -use_arm_calib "irb_3" -upper_joint_bound 2.879 \
-lower_joint_bound -2.53 -upper_joint_bound_max 2.88 \
-lower_joint_bound_min -2.531 -upper_joint_coupl_bound 1.309 \
-lower_joint_coupl_bound -1.309 -cal_position 1.024857 
#
-name "irb_4" -use_arm_type "IRB5400_4" -use_acc_data "irb_4" \
-use_arm_calib "irb_4" -independent_joint_on -upper_joint_bound 12.56 \
-lower_joint_bound -12.56 -upper_joint_bound_max 350 \
-lower_joint_bound_min -350 -upper_coupled_joint_bound_2 6.3 \
-lower_coupled_joint_bound_2 -6.3 
#
-name "irb_5" -use_arm_type "IRB5400_5" -use_acc_data "irb_5" \
-use_arm_calib "irb_5" -independent_joint_on -upper_joint_bound 12.56 \
-lower_joint_bound -12.56 -upper_joint_bound_max 350 \
-lower_joint_bound_min -350 
#
-name "irb_6" -use_arm_type "IRB5400_6" -use_acc_data "irb_6" \
-use_arm_calib "irb_6" -independent_joint_on -upper_joint_bound 62.83 \
-lower_joint_bound -62.83 -upper_joint_bound_max 600 \
-lower_joint_bound_min -600 
#
-name "irb_7R" -use_arm_type "IRB5400_7R" -use_acc_data "irb_7" \
-upper_joint_bound 3 -lower_joint_bound -3 -upper_joint_bound_max 1000 \
-lower_joint_bound_min -1000 
#
-name "irb_7L" -use_arm_type "IRB5400_7L" -use_acc_data "irb_7" \
-upper_joint_bound 3 -lower_joint_bound -3 -upper_joint_bound_max 1000 \
-lower_joint_bound_min -1000 
#
-name "irb_8n" -use_arm_type "IRB5400_8N" -use_acc_data "irb_8" \
-upper_joint_bound -0.366519 -lower_joint_bound -1.436406 \
-upper_joint_bound_max -0.3 -lower_joint_bound_min -1.45 \
-cal_position -1.26187305 
#
-name "irb_8p" -use_arm_type "IRB5400_8N" -use_acc_data "irb_8" \
-upper_joint_bound 1.436406 -lower_joint_bound 0.366519 \
-upper_joint_bound_max 1.45 -lower_joint_bound_min 0.3 \
-cal_position 1.26187305 

# ARM_CHECK_POINT - ?
ARM_CHECK_POINT:
#
-name "irb_3" -checktype "POS" -position_x -0.4 -position_y 0 \
-position_z 0.265 

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

# 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 -ke_stability_increase \
-i_max 3 -speed1 105 -speed2 210 -speed3 315 -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 -ke_stability_increase \
-i_max 3 -speed1 105 -speed2 210 -speed3 315 -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 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "irb_7" -torque_turbo_acc 32.6 -torque_turbo_dec 32.6 \
-torque_max_acc 32.6 -torque_max_dec 32.6 -speed_max 314.1 -speed_turbo 314.1 \
-speed_absolute_max 314.1 -torque_absolute_max 100000 \
-optimal_gear_box_torque 
#
-name "irb_8" -torque_turbo_acc 26.1 -torque_turbo_dec 26.1 \
-torque_max_acc 26.1 -torque_max_dec 26.1 -speed_max 250.1 -speed_turbo 250.1 \
-speed_absolute_max 250.1 -torque_absolute_max 100000 \
-optimal_gear_box_torque 
