Author Topic: abb s4c torque parameter help  (Read 129 times)

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Offline lunknowl

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abb s4c torque parameter help
« on: May 15, 2018, 03:25:27 PM »
 :help:hi, is there like a system parameter for the torque limit of each axis? i have the abb s4c 6400 robot, thanks

Offline SAABoholic

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Re: abb s4c torque parameter help
« Reply #1 on: May 15, 2018, 04:03:34 PM »
Yes, but they're "hidden" / encrypted for the robot axis.

Offline lunknowl

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Re: abb s4c torque parameter help
« Reply #2 on: May 16, 2018, 03:37:30 PM »
can you be more detail? where is it? example systemparameter > motion??

Offline SAABoholic

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Re: abb s4c torque parameter help
« Reply #3 on: May 17, 2018, 02:58:08 PM »
This is a sample configuration from RW 5.15 to give you an idea of the structure of motion parameters.
While S4 is slightly different (less parameters) the torque limitation is still on the motor side and under "motor type"

Quote
MOC:CFG_1.0::

# ..\..\..\..\Syspar\EXT_M7L1B1_DM1.cfg
# GENERAL_BASE.SISSINGLE.MEASUREMENT_LINK_1.BOARD_POSITION_1.MEASUREMENT
# _NODE_7.DRIVE_UNIT_7.ROBOT_1.EXTERNAL_RECTIFIER_1
#
# created 2017/08/14 21:45:36 to RW 5.15.9149.15 by param_db Rev. 1.6


MECHANICAL_UNIT:

-name "M7DM1" -use_run_enable "" -use_activation_relay "" -use_brake_relay "" \
-use_single_0 "M7DM1" -stand_by_state

SINGLE:

-name "M7DM1" -use_single_type "M7DM1" -use_joint "M7DM1" -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:

-name "M7DM1" -mechanics "FREE_ROT" -use_sis "M7DM1"

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" \
-drive_module 1 -use_drive_module "drive_module_1" \
-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_link 1 \
-board_position 1 -measurement_node 7

ARM:

-name "M7DM1" -use_arm_type "M7DM1" -use_acc_data "M7DM1" \
-upper_joint_bound 3.14 -lower_joint_bound -3.14

ARM_TYPE:

-name "M7DM1"

ACC_DATA:

-name "M7DM1" -wc_acc 2.5 -wc_dec 2.5

TRANSMISSION:

-name "M7DM1" -rotating_move -transm_joint 123.456

BRAKE:

-name "M7DM1" -control_off_speed_limit 1 -control_off_delay_time 0.1

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 -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-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 -teach_mode_speed_max_main 0.15 \
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28

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_force_control_filter "ONE" \
-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_slow_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"

MOTOR:

-name "M7DM1"
-use_motor_type "M7DM1" -use_motor_calib "M7DM1"

MOTOR_TYPE:

-name "M7DM1" -pole_pairs 3 -torque_0 18 -ke 0.51 -i_max 36.8 \
-r_stator_20 0.125 -l_stator 0.0017


MOTOR_CALIB:

-name "M7DM1" -com_offset 1.570796 -valid_com_offset -cal_offset 0

THERMAL_DUTY_CYCLE:

-name "M7DM1"

STRESS_DUTY_CYCLE:

-name "M7DM1" -speed_absolute_max 314.1 -torque_absolute_max 1.5

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 10 -Kv 0.2 -Ti 0.1

SIS_SINGLE:

-name "M7DM1" -sis_active -use_sis_param "M7DM1" -gear_factor_1 0 \
-gear_factor_2 0 -gear_factor_3 0 -gear_factor_4 0 -gear_factor_5 0 \
-gear_factor_6 0 -gear_factor_7 0 -gear_factor_8 0 -gear_factor_9 0 \
-motor_factor_1 0 -motor_factor_2 0 -motor_factor_3 0 -motor_factor_4 0 \
-motor_factor_5 0 -motor_heat_transfer_factor 0 \
-gear_power_loss_average_40c 0 -gear_power_loss_average_50c 0 -T_rated 0 \
-C_crit 0 -arm_to_rv_ratio 1

SIS_EXTERNAL_SINGLE:

-name "M7DM1" -prod_time_service_interval 20000 \
-calender_time_service_interval 1 -prod_time_warning_level 0 \
-calender_time_warning_level 0 -gear_box_warning_level 100