MOC:CFG_1.0:4:0::

# ..\..\..\syspar/EXT_M7C1B1_S.cfg
# SGUN.M7C1B1_S
# 
# created 2005/11/18 05:24:58 by param_db $Revision: 40.6 $


# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "M7C1B1_S" -use_run_enable "" -use_activation_relay "" \
-use_brake_relay "" -use_connection_relay "M7C1B1_S" -use_single_0 "M7C1B1_S" \
-user_frame_moved_by "" -stand_by_state -activate_at_start_up 

# RELAY - ?
RELAY:
#
-name "M7C1B1_S" -out_signal "" -in_signal "" 

# SINGLE - ?
SINGLE:
#
-name "M7C1B1_S" -use_single_type "M7C1B1_S" -use_joint "M7C1B1_S" 

# SINGLE_TYPE - ?
SINGLE_TYPE:
#
-name "M7C1B1_S" -mechanics "SG_LIN" 

# JOINT - ?
JOINT:
#
-name "M7C1B1_S" -logical_axis 7 -use_measurement_channel "M7C1B1_S" \
-use_process "M7C1B1_S" -use_axc_filter "M7C1B1_S" -use_arm "M7C1B1_S" \
-use_transmission "M7C1B1_S" -use_brake "M7C1B1_S" \
-use_supervision "M7C1B1_S" -use_drive_system "M7C1B1_S" \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "M7C1B1_S" \
-normal_control_master_type "LCM0" -use_normal_control_master "M7C1B1_S" \
-one_node_used_on_drive_unit 

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "M7C1B1_S" -use_measurement_board_type "DSQC313" -measurement_system 2 \
-board_position 1 -measurement_node 1 -disconnect_at_deactivate 

# ARM - ?
ARM:
#
-name "M7C1B1_S" -use_arm_type "M7C1B1_S" -use_acc_data "M7C1B1_S" \
-upper_joint_bound 0.11 -lower_joint_bound -0.005 -upper_joint_bound_max 2 \
-lower_joint_bound_min -0.005 

# ARM_TYPE - Type of arm
ARM_TYPE:
#
-name "M7C1B1_S" -max_acc 10000 -max_acc_quota 1 

# ACC_DATA - ?
ACC_DATA:
#
-name "M7C1B1_S" -wc_acc 6 -wc_dec 6 -wc_dacc_ratio 1 -wc_ddec_ratio 1 

# TRANSMISSION - ?
TRANSMISSION:
#
-name "M7C1B1_S" -transm_joint -816.3265 

# BRAKE - ?
BRAKE:
#
-name "M7C1B1_S" -control_off_speed_limit 1 -control_off_delay_time 0.4 \
-brake_control_on_delay_time 0.4 -brake_ramp_speed_limit 0.4 \
-initial_brake_dec_time 0 -use_brake_type "M7C1B1_S" 

# BRAKE_TYPE - ?
BRAKE_TYPE:
#
-name "M7C1B1_S" -inertia 0.00015 

# SUPERVISION - (all parameters on motor side)
SUPERVISION:
#
-name "M7C1B1_S" -use_supervision_type "M7C1B1_S" -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 

# SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
#
-name "M7C1B1_S" -fc_speed_limit_factor 1.3 -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 

# PROCESS - 
PROCESS:
#
-name "M7C1B1_S" -use_sg_process "M7C1B1_S" 

# SG_PROCESS - 
SG_PROCESS:
#
-name "M7C1B1_S" -use_force_master "M7C1B1_S" -min_close_time_adjust 0 \
-close_position_adjust 0 -pre_sync_mode 1 -pre_sync_delay_time 0 \
-max_motor_torque 9 -post_sync_time 0 -calib_mode 2 -calib_force_high 3500 \
-calib_force_low 1500 -calib_time 0.5 -no_of_active_db_posts 4 \
-squeeze_force_1 453.8 -squeeze_force_2 2137.9 -squeeze_force_3 2932.8 \
-squeeze_force_4 4366.6 -squeeze_torque_1 1 -squeeze_torque_2 3 \
-squeeze_torque_3 4 -squeeze_torque_4 6 -soft_stop_timeout 1 

# FORCE_MASTER - 
FORCE_MASTER:
#
-name "M7C1B1_S" -use_force_master_control "M7C1B1_S" -bandwidth_ramping 15 \
-ramp_start_switch 1 -ramp_time_switch -ramp_torque_ref_closing 80 \
-ramp_time 0.0045 -bandwidth_lp 5 -alarm_torque 1.5 -col_speed 0.006 \
-distance_to_contact_position 0.0019 -max_pos_error_closing 0.1 \
-delay_ramp 0.03 -ramp_to_real_contact 

# FORCE_MASTER_CONTROL - ?
FORCE_MASTER_CONTROL:
#
-name "M7C1B1_S" -no_of_posts 4 -speed_limit_ipol 2 -torque_1 1 -torque_2 3 \
-torque_3 4 -torque_4 6 -speed_lim_1 20 -speed_lim_2 71 -speed_lim_3 92 \
-speed_lim_4 126 -Kv_1 1 -Kv_2 1 -Kv_3 1 -Kv_4 1 

# AXC_FILTER - ?
AXC_FILTER:
#
-name "M7C1B1_S" -use_feedback_iir2_filter "LP_496" \
-use_speed_error_iir2_filter "ONE" \
-use_controllable_iir2_filter "VAR_LAG32B_20_40" \
-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25" 

# DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "M7C1B1_S" -use_current_transfer_function "cur_tr_0.95" \
-use_mains "mains" -use_trafo "trafo_c1" -use_dc_link "dc_link_c1" \
-use_drive_unit "M7C1B1" -use_cable "cable_4.5_30" -use_motor "M7C1B1_S" \
-use_thermal_duty_cycle "M7C1B1_S" -use_stress_duty_cycle "M7C1B1_S" \
-use_gear_box "" 

# MOTOR - ?
MOTOR:
#
-name "M7C1B1_S" -use_motor_type "M7C1B1_S" -use_motor_calib "M7C1B1_S" \
-stator_cooling_factor 1 

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "M7C1B1_S" -pole_pairs 3 -inertia 0.001165 -torque_0 3.8 -ke 0.4792 \
-ke_temp_coef_20 0.00035 -ke_stability_coef_20 0.03 -ke_tolerance_min -0.05 \
-ke_tolerance_max 0.05 -ke_red_2i0 0.06 -i_max 27.5 \
-torque_losses_at_speed1 0.2 -torque_losses_at_speed2 0.3 \
-torque_losses_at_speed3 0.4 -speed1 104.72 -speed2 209.44 -speed3 314.16 \
-temp_stator_max 140 -temp_stator_rise 100 -temp_rotor_max 120 \
-temp_rotor_rise 80 -r_stator_20 0.92 -r_stator_temp_coef_20 0.00263 \
-l_stator 0.0043 

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "M7C1B1_S" -com_offset 1.570796 -valid_com_offset -cal_offset 0 

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "M7C1B1_S" 

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "M7C1B1_S" -speed_absolute_max 314.159265 -torque_absolute_max 9 

# UCCM0 - ?
UCCM0:
#
-name "M7C1B1_S" -Kp 20 -Kv 0.5 -Ti 0.2 -Kp_stability 15 -speed_max_n 16 \
-acc_max_n 264 -dec_max_n 314 

# LCM0 - ?
LCM0:
#
-name "M7C1B1_S" -Kp 100 -Kv 0.6 -Ti 0.1 -ffw_mode 1 
