I am trying to set up a linear track and a rotary table in the same station. My two CFG files are shown below. The CFG files work fine individually. When I load both CFG files into the same station, it also works, except that only one mechanism is activated. When I try to activate the second mechanism in the FlexPendant (jogging), the first mechanism gets automatically deactivated. I assume this is caused by either the MEASUREMENT_CHANNEL or DRIVE_SYSTEM data being equal in the two CFG files. I have tried to vary the numbers, but no success so far. I would be thankful for any advice.
-GH
CFG For rotary table:
MOC:CFG_1.0::
MOC_FYLM02.cfg
RTT.WM_RTT_107.SUP_TRACK
Descr.:RTT 10.7 WM Y IRC5 RW5.05
created 2004/10/19 14:41:39 by param_db $Revision: 1.2 $
MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
-name “ROT” -use_run_enable “” -use_activation_relay “” -use_brake_relay “”
-use_robot “” -use_single_0 “ROT” -stand_by_state -activate_at_start_up
SINGLE - ?
SINGLE:
-name “ROT” -use_single_type “ROT” -use_joint “LIN8” -base_frame_pos_x 2.0
-base_frame_pos_y 1.5 -base_frame_pos_z 1.0 -base_frame_orient_u0 0.7071068
-base_frame_orient_u1 0 -base_frame_orient_u2 -0.7071068 -base_frame_orient_u3 0
SINGLE_TYPE - ?
SINGLE_TYPE:
-name “ROT” -mechanics “FREE_ROT” -alpha 0
JOINT - ?
JOINT:
-name “LIN8” -logical_axis 11 -use_measurement_channel “ROT”
-use_axc_filter “ROT” -use_arm “ROT” -use_transmission “ROT”
-use_brake “ROT” -use_supervision “ROT” -use_drive_system “LIN8”
-drive_module 1 -use_drive_module “drive_module_1”
-uncalibrated_control_master_type “UCCM0”
-use_uncalibrated_control_master “ROT” -normal_control_master_type “LCM0”
-use_normal_control_master “ROT”
MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
-name “ROT” -use_measurement_board_type “DSQC313” -measurement_link 2
-board_position 1 -measurement_node 1
ARM - ?
ARM:
-name “ROT” -use_arm_type “ROT” -use_acc_data “ROTW_M”
-upper_joint_bound 10.701 -lower_joint_bound -0.005
-upper_joint_bound_max 10.705 -lower_joint_bound_min -0.01
-supervision_jam_time_factor 1 -supervision_load_factor 1
-supervision_speed_factor 1 -supervision_pos_factor 1
ARM_TYPE - Type of arm
ARM_TYPE:
-name “ROT”
ACC_DATA - ?
ACC_DATA:
-name “ROTW_M” -wc_acc 1.5 -wc_dec 1.6 -wc_dacc_ratio 0.7
-wc_ddec_ratio 0.7
-name “ROTW_O” -wc_acc 2.5 -wc_dec 2.6 -wc_dacc_ratio 0.7
-wc_ddec_ratio 0.7
TRANSMISSION - ?
TRANSMISSION:
-name “ROT” -rotating_move -transm_joint 295.6793
BRAKE - ?
BRAKE:
-name “ROT” -control_off_speed_limit 0.02 -control_off_delay_time 0.15
-brake_control_on_delay_time 0.07 -absolute_brake_torque 0.6
-brake_ramp_speed_limit 0.2 -use_brake_type “ROT”
BRAKE_TYPE - ?
BRAKE_TYPE:
-name “ROT” -inertia 0
SUPERVISION - (all parameters on motor side)
SUPERVISION:
-name “ROT” -use_supervision_type “ROT” -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 -joint_affect_forced_Kp -Kp_forced_on_limit 0
-Kp_forced_off_limit 0 -dsp_torque_limitation_zero_speed_width 1
SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
-name “ROT” -static_power_up_position_limit 3
-dynamic_power_up_position_limit 250 -static_position_limit 3
-dynamic_position_limit 50 -static_normalized_speed_limit 0.06
-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0.2
-speed_half_time 1 -max_jam_normalized_speed 0.05 -max_overload_time 0.6
-max_jam_time 1 -teach_mode_speed_max_main 0.1
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28
AXC_FILTER - ?
AXC_FILTER:
-name “ROT” -use_feedback_iir2_filter “LP_248”
-use_speed_error_iir2_filter1 “LAG_16_72” -use_speed_error_iir2_filter2 “ONE”
-use_torque_limit_iir1_filter1 “LP_25” -use_torque_limit_iir1_filter2 “LP_25”
DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
-name “LIN8” -use_current_transfer_function “cur_tr_0.95”
-use_current_controller “c_c_fast_1” -use_mains “mains”
-use_trafo “trafo_dm1” -use_dc_link “dc_link_dm1” -use_drive_unit “M7DM1”
-use_cable “cable_4.5_30” -use_motor “LIN8” -use_thermal_duty_cycle “ROT”
-use_stress_duty_cycle “ROT” -use_gear_box “”
MOTOR - ?
MOTOR:
-name “LIN8” -use_motor_type “505955001RTT” -use_motor_calib “LIN8”
-stator_cooling_factor 1
MOTOR_CALIB - ?
MOTOR_CALIB:
-name “LIN8” -com_offset 1.570796 -valid_com_offset -cal_offset 0
THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
-name “ROT” -torque_turbo_acc 10.2 -torque_turbo_dec 9.4
-torque_max_acc 10.2 -torque_max_dec 9.4 -torque_static 3.5
-int_turbo_acc 0.025 -int_turbo_dec 0.025 -int_max_acc 0.025
-int_max_dec 0.025 -speed_turbo 300 -torque_0 0
-torque_current_losses_ratio 1.02
STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
-name “ROT” -torque_turbo_acc 10.2 -torque_turbo_dec 9.4
-torque_max_acc 10.2 -torque_max_dec 9.4 -speed_max 300 -speed_turbo 300
-torque_min 0 -speed_absolute_max 345 -torque_absolute_max 100000
UCCM0 - ?
UCCM0:
-name “ROT” -Kp 5 -Kv 0.986 -Ti 0.1 -Kp_stability 15 -speed_max_n 29.4
-acc_max_n 180 -dec_max_n 180
LCM0 - ?
LCM0:
-name “ROT” -Kp 15 -Kv 0.986 -Ti 0.1 -servo_tune_not_allowed
-notch_filter_frequency 100 -notch_filter_width 0.2
-notch_auto_no_weave_freq 10 -notch_auto_min_frequency 2
-notch_auto_max_rel_change 0.1 -ffw_mode 1 -bandwidth 25
-resonance_frequency 100 -resonance_damping 0.01 -delay_time 0.012 -inertia 0
MOTOR_TYPE - ?
MOTOR_TYPE:
-name “505955001RTT” -pole_pairs 3 -inertia 0.00092 -torque_0 6.7 -ke 0.3695
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 38.5
-torque_losses_at_speed1 0.2 -torque_losses_at_speed2 0.3
-torque_losses_at_speed3 0.4 -speed1 15.7 -speed3 345.6 -temp_stator_max 140
-temp_stator_rise 100 -temp_rotor_max 120 -temp_rotor_rise 80
-r_stator_20 0.14 -r_stator_temp_coef_20 0.0039 -l_stator 0.00276
CGG for linear track:
MOC:CFG_1.0::
MOC_FYLM03.cfg
RTT.WM_RTT_107.SUP_TRACK
Descr.:RTT 10.7 WM Y IRC5 RW5.05
created 2004/10/19 14:41:39 by param_db $Revision: 1.2 $
MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
-name “TRACK” -use_run_enable “” -use_activation_relay “” -use_brake_relay “”
-use_robot “” -use_single_0 “TRACK” -stand_by_state -activate_at_start_up
SINGLE - ?
SINGLE:
-name “TRACK” -use_single_type “TRACK” -use_joint “LIN7” -base_frame_pos_x 0
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0
SINGLE_TYPE - ?
SINGLE_TYPE:
-name “TRACK” -mechanics “TRACK”
JOINT - ?
JOINT:
-name “LIN7” -logical_axis 7 -use_measurement_channel “TRACK”
-use_axc_filter “TRACK” -use_arm “TRACK” -use_transmission “TRACK”
-use_brake “TRACK” -use_supervision “TRACK” -use_drive_system “LIN7”
-drive_module 1 -use_drive_module “drive_module_1”
-uncalibrated_control_master_type “UCCM0”
-use_uncalibrated_control_master “TRACK” -normal_control_master_type “LCM0”
-use_normal_control_master “TRACK”
MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
-name “TRACK”