456 lines
14 KiB
INI
Executable File
456 lines
14 KiB
INI
Executable File
MOC:CFG_1.0:6:0::
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#
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MOTION_SYSTEM:
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-name "system_1" -min_temp_ambient_cabinet 5 -max_temp_ambient_cabinet 45\
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-min_temp_ambient_robot 5 -max_temp_ambient_robot 45
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#
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MOTION_PLANNER:
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-name "motion_planner_1" -dynamic_resolution 0.5 -path_resolution 0.5\
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-std_servo_queue_time 0.193536 -linear_max_speed 8.4\
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-use_motion_sup "rob1" -use_jog_parameters "motion_planner_1"\
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-use_for_jogging -repos_installed \
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-use_spline_parameters "motion_planner_1" -restricted_circlepoint \
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-optimized_start_from_finepoint 1
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-name "motion_planner_2" -dynamic_resolution 0.5 -path_resolution 0.5\
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-std_servo_queue_time 0.193536 -linear_max_speed 8.4\
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-use_motion_sup "rob2" -use_jog_parameters "motion_planner_2"\
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-repos_installed -use_spline_parameters "motion_planner_2"\
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-restricted_circlepoint -optimized_start_from_finepoint 1
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-name "motion_planner_3"
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-name "motion_planner_4"
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-name "motion_planner_5"
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-name "motion_planner_6"
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-name "motion_planner_7"
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#
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JOG_PARAMETERS:
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-name "motion_planner_1" -jog_mode 1
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-name "motion_planner_2" -jog_mode 1
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#
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RELAY:
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-name "rob1_brake" -out_signal "DRV1BRAKE" -in_signal "DRV1BRAKEFB"
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-name "rob1_run" -out_signal "DRV1CHAIN1" -in_signal "DRV1K1" -run_relay
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-name "rob1_run2" -out_signal "DRV1CHAIN2" -in_signal "DRV1K2" -run_relay
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-name "rob2_brake" -out_signal "DRV2BRAKE" -in_signal "DRV2BRAKEFB"
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-name "rob2_run" -out_signal "DRV2CHAIN1" -in_signal "DRV2K1" -run_relay
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-name "rob2_run2" -out_signal "DRV2CHAIN2" -in_signal "DRV2K2" -run_relay
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#
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ROBOT:
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-name "ROB_1" -use_robot_serial_number "rob_1"\
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-use_robot_type "ROB1_1200_0.9_5_TypeB" -use_robot_calib "r1_uncalib"\
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-use_joint_0 "rob1_1" -use_joint_1 "rob1_2" -use_joint_2 "rob1_3"\
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-use_joint_3 "rob1_4" -use_joint_4 "rob1_5" -use_joint_5 "rob1_6"\
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-base_frame_pos_x -0.001 -base_mass 16.2 -base_mass_centre_x -0.006\
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-base_mass_centre_y 0.001 -base_mass_centre_z 0.13 -use_lin_jog "ROB1"\
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-use_reorient_jog "ROB1" -use_joint_jog "ROB1"\
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-use_motion_process_mode "rob1_optimal_cycle_time_mode"
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-name "ROB_2" -use_robot_serial_number "rob_2"\
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-use_robot_type "ROB2_1200_0.9_5_TypeB" -use_robot_calib "r2_uncalib"\
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-use_joint_0 "rob2_1" -use_joint_1 "rob2_2" -use_joint_2 "rob2_3"\
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-use_joint_3 "rob2_4" -use_joint_4 "rob2_5" -use_joint_5 "rob2_6"\
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-base_frame_pos_x 0.0201903 -base_frame_pos_y -3.26784 -base_mass 16.2\
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-base_mass_centre_x -0.006 -base_mass_centre_y 0.001\
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-base_mass_centre_z 0.13 -use_lin_jog "ROB2" -use_reorient_jog "ROB2"\
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-use_joint_jog "ROB2"\
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-use_motion_process_mode "rob2_optimal_cycle_time_mode"
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#
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ROBOT_SERIAL_NUMBER:
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-name "rob_1"
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-name "rob_2"
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#
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FOOT_INTERFACE:
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-name "r1_foot"
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-name "r2_foot"
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#
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TOOL_INTERFACE:
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-name "r1_tool"
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-name "r2_tool"
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#
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CSS:
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-name "rob1" -valid
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-name "rob2" -valid
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#
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MOTION_PROCESS_MODE:
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-name "rob1_optimal_cycle_time_mode" -mode_id 1\
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-use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
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-name "rob1_low_speed_accuracy_mode" -mode_id 2\
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-use_motion_process_mode_type "rob1_low_speed_accuracy_mode"
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-name "rob1_low_speed_stiff_mode" -mode_id 3\
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-use_motion_process_mode_type "rob1_low_speed_stiff_mode"
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-name "rob1_accuracy_mode" -mode_id 4\
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-use_motion_process_mode_type "rob1_accuracy_mode" -world_acc_factor 1
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-name "rob1_mpm_user_mode_1" -mode_id 5\
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-use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
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-name "rob1_mpm_user_mode_2" -mode_id 6\
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-use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
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-name "rob1_mpm_user_mode_3" -mode_id 7\
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-use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
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-name "rob1_mpm_user_mode_4" -mode_id 8\
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-use_motion_process_mode_type "rob1_optimal_cycle_time_mode"
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-name "rob1_press_tending_mode" -mode_id 9\
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-use_motion_process_mode_type "rob1_press_tending_mode"
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-name "rob2_optimal_cycle_time_mode" -mode_id 1\
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-use_motion_process_mode_type "rob2_optimal_cycle_time_mode"
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-name "rob2_low_speed_accuracy_mode" -mode_id 2\
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-use_motion_process_mode_type "rob2_low_speed_accuracy_mode"
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-name "rob2_low_speed_stiff_mode" -mode_id 3\
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-use_motion_process_mode_type "rob2_low_speed_stiff_mode"
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-name "rob2_accuracy_mode" -mode_id 4\
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-use_motion_process_mode_type "rob2_accuracy_mode" -world_acc_factor 1
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-name "rob2_mpm_user_mode_1" -mode_id 5\
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-use_motion_process_mode_type "rob2_optimal_cycle_time_mode"
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-name "rob2_mpm_user_mode_2" -mode_id 6\
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-use_motion_process_mode_type "rob2_optimal_cycle_time_mode"
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-name "rob2_mpm_user_mode_3" -mode_id 7\
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-use_motion_process_mode_type "rob2_optimal_cycle_time_mode"
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-name "rob2_mpm_user_mode_4" -mode_id 8\
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-use_motion_process_mode_type "rob2_optimal_cycle_time_mode"
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-name "rob2_press_tending_mode" -mode_id 9\
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-use_motion_process_mode_type "rob2_press_tending_mode"
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#
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MOTION_SUP:
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-name "default"
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-name "rob1" -path_col_detect_on -jog_col_detect_on \
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-gravity_tolerance 0.2 -friction_tolerance 1 -disturbance_tolerance 0.5
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-name "rob2" -path_col_detect_on -jog_col_detect_on \
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-gravity_tolerance 0.2 -friction_tolerance 1 -disturbance_tolerance 0.5
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#
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ARM:
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-name "rob1_1" -use_arm_type "ROB1_1" -use_acc_data "rob1_1"\
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-use_customer_arm_load "r1_load_1" -use_arm_calib "rob1_1"\
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-upper_joint_bound 2.96713 -lower_joint_bound -2.96713\
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-upper_joint_bound_max 2.96713 -lower_joint_bound_min -2.96713
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-name "rob1_2" -use_arm_type "ROB1_2" -use_acc_data "rob1_2"\
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-use_customer_arm_load "r1_load_2" -use_arm_calib "rob1_2"\
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-upper_joint_bound 2.269 -lower_joint_bound -1.7454\
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-upper_joint_bound_max 2.269 -lower_joint_bound_min -1.7454
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-name "rob1_3" -use_arm_type "ROB1_3" -use_acc_data "rob1_3"\
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-use_check_point "rob1_3" -use_customer_arm_load "r1_load_3"\
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-use_arm_calib "rob1_3" -upper_joint_bound 1.22181\
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-lower_joint_bound -3.49073 -upper_joint_bound_max 1.22181\
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-lower_joint_bound_min -3.49073
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-name "rob1_4" -use_arm_type "ROB1_4" -use_acc_data "rob1_4"\
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-use_customer_arm_load "r1_load_4" -use_arm_calib "rob1_4"\
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-upper_joint_bound 4.71246 -lower_joint_bound -4.71246\
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-upper_joint_bound_max 4.71246 -lower_joint_bound_min -4.71246
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-name "rob1_5" -use_arm_type "ROB1_5" -use_acc_data "rob1_5"\
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-use_arm_calib "rob1_5" -upper_joint_bound 2.269 -lower_joint_bound -2.269\
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-upper_joint_bound_max 2.269 -lower_joint_bound_min -2.269
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-name "rob1_6" -use_arm_type "ROB1_6" -use_acc_data "rob1_6"\
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-use_arm_calib "rob1_6" -upper_joint_bound 6.98139\
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-lower_joint_bound -6.98139 -upper_joint_bound_max 1520\
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-lower_joint_bound_min -1520
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-name "rob2_1" -use_arm_type "ROB2_1" -use_acc_data "rob2_1"\
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-use_customer_arm_load "r2_load_1" -use_arm_calib "rob2_1"\
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-upper_joint_bound 2.96713 -lower_joint_bound -2.96713\
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-upper_joint_bound_max 2.96713 -lower_joint_bound_min -2.96713
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-name "rob2_2" -use_arm_type "ROB2_2" -use_acc_data "rob2_2"\
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-use_customer_arm_load "r2_load_2" -use_arm_calib "rob2_2"\
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-upper_joint_bound 2.269 -lower_joint_bound -1.7454\
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-upper_joint_bound_max 2.269 -lower_joint_bound_min -1.7454
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-name "rob2_3" -use_arm_type "ROB2_3" -use_acc_data "rob2_3"\
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-use_check_point "rob2_3" -use_customer_arm_load "r2_load_3"\
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-use_arm_calib "rob2_3" -upper_joint_bound 1.22181\
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-lower_joint_bound -3.49073 -upper_joint_bound_max 1.22181\
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-lower_joint_bound_min -3.49073
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-name "rob2_4" -use_arm_type "ROB2_4" -use_acc_data "rob2_4"\
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-use_customer_arm_load "r2_load_4" -use_arm_calib "rob2_4"\
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-upper_joint_bound 4.71246 -lower_joint_bound -4.71246\
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-upper_joint_bound_max 4.71246 -lower_joint_bound_min -4.71246
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-name "rob2_5" -use_arm_type "ROB2_5" -use_acc_data "rob2_5"\
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-use_arm_calib "rob2_5" -upper_joint_bound 2.269 -lower_joint_bound -2.269\
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-upper_joint_bound_max 2.269 -lower_joint_bound_min -2.269
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-name "rob2_6" -use_arm_type "ROB2_6" -use_acc_data "rob2_6"\
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-use_arm_calib "rob2_6" -upper_joint_bound 6.98139\
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-lower_joint_bound -6.98139 -upper_joint_bound_max 1520\
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-lower_joint_bound_min -1520
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#
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ARM_CHECK_POINT:
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-name "rob1_3" -position_x -0.1 -position_y -0.05 -position_z 0.1
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-name "rob2_3" -position_x -0.1 -position_y -0.05 -position_z 0.1
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#
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ARM_LOAD:
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-name "r1_load_1"
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-name "r1_load_2"
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-name "r1_load_3"
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-name "r1_load_4"
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-name "r2_load_1"
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-name "r2_load_2"
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-name "r2_load_3"
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-name "r2_load_4"
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#
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ARM_CALIB:
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-name "rob1_1"
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-name "rob1_2"
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-name "rob1_3"
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-name "rob1_4"
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-name "rob1_5"
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-name "rob1_6"
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-name "rob2_1"
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-name "rob2_2"
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-name "rob2_3"
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-name "rob2_4"
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-name "rob2_5"
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-name "rob2_6"
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#
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JOINT_CALIB:
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-name "rob1_1"
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-name "rob1_2"
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-name "rob1_3"
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-name "rob1_4"
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-name "rob1_5"
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-name "rob1_6"
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-name "rob2_1"
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-name "rob2_2"
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-name "rob2_3"
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-name "rob2_4"
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-name "rob2_5"
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-name "rob2_6"
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#
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MAINS:
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-name "mains" -u_tolerance_min -0.15 -u_tolerance_max 0.1
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-name "mains_no_rectifier" -u_tolerance_min 0 -u_tolerance_max 0
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#
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CURRENT_CONTROLLER:
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-name "c_c_slow_1" -Kp_d_factor 0.2 -current_forced_factor 0.5\
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-delay_filter_time 0.000252
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#
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CABLE:
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-name "cable_4.5_30" -use_cable_type "cable_4.5" -length 30
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-name "cable_3.0_30" -use_cable_type "cable_3.0" -length 30
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-name "cable_1.5_30" -use_cable_type "cable_1.5" -length 30
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-name "cable_1.0_30" -use_cable_type "cable_1.0" -length 30
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-name "cable_3.0_50" -use_cable_type "cable_3.0" -length 50
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-name "cable_2.0_50" -use_cable_type "cable_2.0" -length 50
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-name "cable_0.75_50" -use_cable_type "cable_0.75" -length 50
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-name "cable_awg24_0.815" -use_cable_type "cable_awg24" -length 0.815
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-name "cable_awg24_1.140" -use_cable_type "cable_awg24" -length 1.14
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-name "cable_awg24_1.65" -use_cable_type "cable_awg24" -length 1.65
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-name "cable_awg24_1.86" -use_cable_type "cable_awg24" -length 1.86
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-name "cable_awg24_2.205" -use_cable_type "cable_awg24" -length 2.205
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-name "cable_awg24_2.165" -use_cable_type "cable_awg24" -length 2.165
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-name "cable_awg24_1.215" -use_cable_type "cable_awg24" -length 1.215
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#
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MOTOR_TYPE:
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-name "default" -pole_pairs 3 -inertia 0 -torque_0 1 -ke 0.5\
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-ke_temp_coef_20 0 -ke_tolerance_min 0 -ke_tolerance_max 0 -ke_red_2i0 0\
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-i_max 3 -torque_losses_at_speed1 0 -torque_losses_at_speed2 0\
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-torque_losses_at_speed3 0 -speed1 100000 -speed2 100000 -speed3 100000\
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-r_stator_20 5 -r_stator_temp_coef_20 0 -l_stator 0.02
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#
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MOTOR_CALIB:
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-name "LOCKED" -valid_com_offset -valid_cal_offset
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-name "rob1_1" -valid_com_offset
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-name "rob1_2" -valid_com_offset
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-name "rob1_3" -valid_com_offset
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-name "rob1_4" -valid_com_offset
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-name "rob1_5" -valid_com_offset
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-name "rob1_6" -valid_com_offset
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-name "rob2_1" -valid_com_offset
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-name "rob2_2" -valid_com_offset
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-name "rob2_3" -valid_com_offset
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-name "rob2_4" -valid_com_offset
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-name "rob2_5" -valid_com_offset
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-name "rob2_6" -valid_com_offset
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#
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DRIVE_MODULE_USER_DATA:
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-name "drive_module_1"
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-name "drive_module_2"
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#
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CFRIC_BLOCK:
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-name "r1_CFric_1" -friction_ff_on -friction_ff_level 0.18\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r1_CFric_2" -friction_ff_on -friction_ff_level 0.14\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r1_CFric_3" -friction_ff_on -friction_ff_level 0.14\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r1_CFric_4" -friction_ff_on -friction_ff_level 0.07\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r1_CFric_5" -friction_ff_on -friction_ff_level 0.06\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r1_CFric_6" -friction_ff_on -friction_ff_level 0.02\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r2_CFric_1" -friction_ff_on -friction_ff_level 0.18\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r2_CFric_2" -friction_ff_on -friction_ff_level 0.14\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r2_CFric_3" -friction_ff_on -friction_ff_level 0.14\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
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-name "r2_CFric_4" -friction_ff_on -friction_ff_level 0.07\
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-servo_tune_id_level 5 -servo_tune_id_ramp 6
|
|
|
|
-name "r2_CFric_5" -friction_ff_on -friction_ff_level 0.06\
|
|
-servo_tune_id_level 5 -servo_tune_id_ramp 6
|
|
|
|
-name "r2_CFric_6" -friction_ff_on -friction_ff_level 0.02\
|
|
-servo_tune_id_level 5 -servo_tune_id_ramp 6
|
|
#
|
|
SIS_EXTERNAL:
|
|
|
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-name "r1_sis_param" -prod_time_service_interval 20000\
|
|
-calender_time_service_interval 1 -gear_box_warning_level 100
|
|
|
|
-name "r2_sis_param" -prod_time_service_interval 20000\
|
|
-calender_time_service_interval 1 -gear_box_warning_level 100
|
|
#
|
|
AXIS_CALIBRATION_JOINT:
|
|
|
|
-name "rob1_1" -p1 47 -p4 47 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob1_2" -p1 -5 -p4 -5 -p6 2 -p7 30 -p8 15
|
|
|
|
-name "rob1_3" -p1 -41 -p4 -41 -p6 2 -p7 30 -p8 15
|
|
|
|
-name "rob1_4" -p1 8 -p4 8 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob1_5" -p1 -13 -p4 -13 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob1_6" -p1 8 -p4 8 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob2_1" -p1 47 -p4 47 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob2_2" -p1 -5 -p4 -5 -p6 2 -p7 30 -p8 15
|
|
|
|
-name "rob2_3" -p1 -41 -p4 -41 -p6 2 -p7 30 -p8 15
|
|
|
|
-name "rob2_4" -p1 8 -p4 8 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob2_5" -p1 -13 -p4 -13 -p6 2 -p7 30 -p8 10
|
|
|
|
-name "rob2_6" -p1 8 -p4 8 -p6 2 -p7 30 -p8 10
|