Hello,
I’ve got an independent axis moving a gripper.
Controller have 610-1 Independent Axis option.
Motor was tuned and works well.
For now, axis is defined with:
Arm-Independent Joint = On
Mechanical Unit-Allow Move of User Frame = No
I want to change Joint-Logical Axis to 0 but I can’t.
How can I define it to Robtarget don’t use it?
As now, when I want to move to a position, I’ve got error 40512 - Missing External Axis Value.
And I don’t want to set axis value in robtarget.extjoint as I can go in the same position with different values of this axes.
Here is its MOC.cfg file:
MOC:CFG_1.0:5:0::
MOTION_SYSTEM:
-name “system_1” -min_temp_ambient_cabinet 5 -max_temp_ambient_cabinet 45
-min_temp_ambient_robot 5 -max_temp_ambient_robot 45
MOTION_PLANNER:
-name “motion_planner_1” -std_servo_queue_time 0.193536
-linear_max_speed 9.3 -dyn_ipol_decbuf_type “OPTIMAL_PATH”
-use_motion_sup “rob1” -use_jog_parameters “motion_planner_1”
-use_for_synchronization -use_for_jogging -repos_installed
-use_spline_parameters “motion_planner_1” -restricted_circlepoint
-name “motion_planner_2”
-name “motion_planner_3”
-name “motion_planner_4”
-name “motion_planner_5”
-name “motion_planner_6”
JOG_PARAMETERS:
-name “motion_planner_1”
MECHANICAL_UNIT:
-name “M7DM1” -use_run_enable “” -use_activation_relay “”
-use_brake_relay “” -use_single_0 “M7DM1” -activate_at_start_up
-deactivation_forbidden
RELAY:
-name “rob1_brake” -out_signal “DRV1BRAKE” -in_signal “DRV1BRAKEFB”
-name “rob1_run” -out_signal “DRV1CHAIN1” -in_signal “DRV1K1” -run_relay
-name “rob1_run2” -out_signal “DRV1CHAIN2” -in_signal “DRV1K2” -run_relay
ROBOT:
-name “ROB_1” -use_robot_serial_number “rob_1”
-use_robot_type “ROB1_6700_3.05_175” -use_robot_calib “r1_uncalib”
-use_joint_0 “rob1_1” -use_joint_1 “rob1_2” -use_joint_2 “rob1_3”
-use_joint_3 “rob1_4” -use_joint_4 “rob1_5” -use_joint_5 “rob1_6”
-base_mass 238.53 -base_mass_centre_x -0.0221 -base_mass_centre_y 0.0004
-base_mass_centre_z 0.1979 -use_lin_jog “ROB1” -use_reorient_jog “ROB1”
-use_joint_jog “ROB1” -use_kinematic_corvec
-use_motion_process_mode “rob1_optimal_cycle_time_mode”
ROBOT_SERIAL_NUMBER:
-name “rob_1” -robot_serial_number_high_part “6700”
-robot_serial_number_low_part 118700
TOOL_INTERFACE:
-name “r1_tool”
CSS:
-name “rob1” -valid
MOTION_PROCESS_MODE:
-name “rob1_optimal_cycle_time_mode”
-use_motion_process_mode_type “rob1_optimal_cycle_time_mode”
-name “rob1_low_speed_accuracy_mode”
-use_motion_process_mode_type “rob1_low_speed_accuracy_mode”
-name “rob1_low_speed_stiff_mode”
-use_motion_process_mode_type “rob1_low_speed_stiff_mode”
MOTION_SUP:
-name “rob1” -path_col_detect_on -jog_col_detect_on
-path_col_detect_level 70 -gravity_tolerance 0.2 -friction_tolerance 1
-disturbance_tolerance 0.2
-name “default”
SINGLE:
-name “M7DM1” -use_single_type “M7DM1” -use_joint “M7DM1”
SINGLE_TYPE:
-name “M7DM1” -mechanics “FREE_ROT”
JOINT:
-name “M7DM1” -logical_axis 7 -use_measurement_channel “M7DM1”
-use_axc_filter “M7DM1” -use_arm “M7DM1” -use_transmission “M7DM1”
-use_brake “M7DM1” -use_supervision “M7DM1” -use_drive_system “M7DM1”
-uncalibrated_control_master_type “UCCM0”
-use_uncalibrated_control_master “M7DM1”
-normal_control_master_type “LCM0” -use_normal_control_master “M7DM1”
MEASUREMENT_CHANNEL:
-name “M7DM1” -use_measurement_board_type “DSQC313” -measurement_node 7
ARM:
-name “rob1_1” -use_arm_type “ROB1_1” -use_acc_data “rob1_1”
-use_customer_arm_load “r1_load_1” -use_arm_calib “rob1_1”
-upper_joint_bound 2.96706 -lower_joint_bound -2.96706
-upper_joint_bound_max 2.96706 -lower_joint_bound_min -2.96706
-name “rob1_2” -use_arm_type “ROB1_2” -use_acc_data “rob1_2”
-use_customer_arm_load “r1_load_2” -use_arm_calib “rob1_2”
-upper_joint_bound 1.48353 -lower_joint_bound -1.13446
-upper_joint_bound_max 1.48353 -lower_joint_bound_min -1.13446
-name “rob1_3” -use_arm_type “ROB1_3” -use_acc_data “rob1_3”
-use_check_point “rob1_3” -use_customer_arm_load “r1_load_3”
-use_arm_calib “rob1_3” -upper_joint_bound 1.22173
-lower_joint_bound -3.14159 -upper_joint_bound_max 1.22173
-lower_joint_bound_min -3.14159
-name “rob1_4” -use_arm_type “ROB1_4” -use_acc_data “rob1_4”
-use_customer_arm_load “r1_load_4” -use_arm_calib “rob1_4”
-upper_joint_bound 5.23599 -lower_joint_bound -5.23599
-upper_joint_bound_max 5.23599 -lower_joint_bound_min -5.23599
-name “rob1_5” -use_arm_type “ROB1_5” -use_acc_data “rob1_5”
-use_arm_calib “rob1_5” -upper_joint_bound 2.26893
-lower_joint_bound -2.26893 -upper_joint_bound_max 2.26893
-lower_joint_bound_min -2.26893
-name “rob1_6” -use_arm_type “ROB1_6” -use_acc_data “rob1_6”
-use_arm_calib “rob1_6” -upper_joint_bound 6.28319
-lower_joint_bound -6.28319 -upper_joint_bound_max 589
-lower_joint_bound_min -589
-name “M7DM1” -use_arm_type “M7DM1” -use_acc_data “M7DM1”
-independent_joint_on -upper_joint_bound 0.08 -lower_joint_bound -0.001
ARM_TYPE:
-name “M7DM1”
ARM_CHECK_POINT:
-name “rob1_3” -checktype “POS” -position_x 0 -position_y 0 -position_z 0
ARM_LOAD:
-name “r1_load_1”
-name “r1_load_2”
-name “r1_load_3” -mass 22 -mass_centre_x 0.32 -mass_centre_z 0.47
-name “r1_load_4”
ACC_DATA:
-name “M7DM1” -wc_acc 1 -wc_dec 1
ARM_CALIB:
-name “rob1_1”
-name “rob1_2”
-name “rob1_3”
-name “rob1_4”
-name “rob1_5”
-name “rob1_6”
JOINT_CALIB:
-name “rob1_1”
-name “rob1_2”
-name “rob1_3”
-name “rob1_4”
-name “rob1_5”
-name “rob1_6”
TRANSMISSION:
-name “M7DM1” -transm_joint 2577.72 -high_gear 2577717 -low_gear 1000
BRAKE:
-name “M7DM1” -control_off_delay_time 0.3 -use_brake_type “3HAC046619-001”
SUPERVISION:
-name “M7DM1” -use_supervision_type “M7DM1” -power_up_position_on
-counter_supervision_on -position_supervision_on -speed_supervision_on
-load_supervision_on -jam_supervision_on -thermal_motor_supervision_on
-in_position_range 1 -normalized_zero_speed 0.02
-reference_master_pos_supervision_on
SUPERVISION_TYPE:
-name “M7DM1” -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
AXC_FILTER:
-name “M7DM1” -use_feedback_iir2_filter “LP_496”
-use_speed_error_iir2_filter1 “NOTCH_248”
-use_speed_error_iir2_filter2 “LAG_16_72”
-use_torque_limit_iir1_filter1 “LP_25”
-use_torque_limit_iir1_filter2 “LP_25”
DRIVE_SYSTEM:
-name “M7DM1” -use_current_transfer_function “cur_tr_1.00”
-use_current_controller “c_c_fast_1” -use_mains “mains”
-use_trafo “trafo_dm1” -use_dc_link “dc_link_ext_dm1”
-use_drive_unit “M7DM1” -use_cable “cable_4.5_30” -use_motor “M7DM1”
-use_thermal_duty_cycle “M7DM1” -use_stress_duty_cycle “M7DM1”
-mugu_active
MAINS:
-name “mains” -u_tolerance_min -0.15 -u_tolerance_max 0.1
CURRENT_CONTROLLER:
-name “c_c_slow_1” -Kp_d_factor 0.2 -current_forced_factor 0.5
-delay_filter_time 0.000252
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:
-name “M7DM1” -use_motor_type “Siemens_1FK7022” -use_motor_calib “M7DM1”
MOTOR_TYPE:
-name “default” -pole_pairs 3 -torque_0 1 -ke 0.5 -i_max 3 -r_stator_20 5
-l_stator 0.02
-name “Siemens_1FK7105” -pole_pairs 4 -inertia 0.0169 -torque_0 48
-ke 0.95 -i_max 85 -r_stator_20 0.074 -l_stator 0.00127
-name “Siemens_1FK7022” -pole_pairs 3 -inertia 3.5E-005 -torque_0 0.85
-ke 0.277 -i_max 6.5 -r_stator_20 4.2 -l_stator 0.0091
MOTOR_CALIB:
-name “rob1_1” -valid_com_offset -cal_offset 0.3857 -valid_cal_offset
-name “rob1_2” -valid_com_offset -cal_offset 0.2334 -valid_cal_offset
-name “rob1_3” -valid_com_offset -cal_offset 4.5182 -valid_cal_offset
-name “rob1_4” -valid_com_offset -cal_offset 3.3419 -valid_cal_offset
-name “rob1_5” -valid_com_offset -cal_offset 4.2074 -valid_cal_offset
-name “rob1_6” -valid_com_offset -cal_offset 1.5161 -valid_cal_offset
-name “LOCKED” -valid_com_offset -valid_cal_offset
-name “M7DM1” -valid_com_offset -cal_offset 6.04695 -valid_cal_offset
THERMAL_DUTY_CYCLE:
-name “M7DM1”
STRESS_DUTY_CYCLE:
-name “M7DM1” -speed_absolute_max 157 -torque_absolute_max 0.8
UCCM0:
-name “M7DM1” -Kp 10 -Kv 0.2 -Ti 0.1 -speed_max_n 15 -acc_max_n 100
-dec_max_n 100
LCM0:
-name “M7DM1” -Kp 22 -Kv 0.12 -Ti 0.1 -bandwidth 10
-resonance_frequency 10 -inertia 0.0001
DRIVE_MODULE_USER_DATA:
-name “drive_module_1”
CFRIC_BLOCK:
-name “r1_CFric_1” -friction_ff_level 1.17 -servo_tune_id_level 5
-servo_tune_id_ramp 6
-name “r1_CFric_2” -friction_ff_level 2.27 -servo_tune_id_level 5
-servo_tune_id_ramp 6
-name “r1_CFric_3” -friction_ff_level 2.39 -servo_tune_id_level 5
-servo_tune_id_ramp 6
-name “r1_CFric_4” -friction_ff_level 0.42 -servo_tune_id_level 5
-servo_tune_id_ramp 6
-name “r1_CFric_5” -friction_ff_level 0.61 -servo_tune_id_level 5
-servo_tune_id_ramp 6
-name “r1_CFric_6” -friction_ff_level 0.41 -servo_tune_id_level 5
-servo_tune_id_ramp 6
SIS_EXTERNAL:
-name “r1_sis_param” -prod_time_service_interval 20000
-calender_time_service_interval 1 -gear_box_warning_level 100
