April 24, 2019, 10:19:13 PM
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 My new used kuka KR200L170 comp

Author Topic:  My new used kuka KR200L170 comp  (Read 2625 times)

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March 24, 2018, 01:00:08 PM
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cientista


Hello,
My first post on this forum. I think that this forum doesn't have presentation category.

First of all i want to say thank you to you all (specialy to panicmode and skyfire, sory if i forget more but i had read lots of posts) and say that this is the best forum on the web about kuka robots.

I bought a used kuka
KR200L170 comp Serie number 887770 2005-11 KR200L170_CPT S C2 FLR ZH04
with cabinet
(V)KRC2 ed05 No se série 37113 22/2005
with pc
KPC ed05 NO serie 00164 35/2008.

So, i know that i bought a used robot, and now i know some errors on kuka, more than 30 errors that i can solve only reading lots of posts about that errors and with help of mostly panic mode and skyfire i can solve almost them all. Thank you so much for that !!!
This cabinet is not from this robot, this KPC is not from this cabinet, and motors already changed i think.
I already configure correct mada. loose wires, burned fuses, x11, etc, etc etc...

I can sucessfully move the robot in T1 T2 and AUTO mode with some code from CAM software.
Already mount on robot flange a 11KW motor with 625mm diameter disc to cut with Variable Frequency Drive.

So, the reason for this post, besides being to thank you all for being able to do all this in 3 days is to try to resolve the last 3 erros that show on my KCP2.

Error 26 - Module 1 KSD-32 Required
Error 26 - Module 2 KSD-32 Required
Error 26 - Module 3 KSD-32 Required


I already know what this mean. KSD not correct for the motors.
I have inside my cabinet for my first 3 axis KSD1-48 KSD's.

axis 1 ksd = axis 2 ksd = axis 3 KSD =N1=N2=N3 :
E93DA123i4B531XX3B23
Input: 2/PE DC 0-565/675VG 20.9/16.8A
Output: 3/PE AC 0-400/480V 17.0/13.6A 0-480HZ
Type: E93DA123I4B531
ID NO: 00492426
Prod No 01292933
Ser no 000068

I have in the robot for first 3 axis the foloing motors:

axis 1: 1FK7100-5AZ91-1ZZ9-Z S05
SerNR YF T950 3820 30 014
3.2KW 7,3A 181V
4300/5000min-1

axis2: 1FK7101-5AZ91-1ZZ9-Z S06
Ser.Nr.: YF T850 3781 20 021
3,3KW 7,0A 200V
3750/5000min-1

axis3:1FK7101-5AZ91-1ZZ9-Z S06
YF T850 3781 20 018
3.3 KW 7.0A 200V
3750/5000 min-1

So, MADA call for ksd-32 for this particular robot.
Is that a problem ?
Can i replace in mada for KSD48 for the errors disapear ?
Is some type of problem for the motors and cables ?
I attach my machine.dat and robcor.dat

Thank you in advance.
KR200L170 with rotary table Ruckle PKT1200

Today at 10:19:13 PM
Reply #1

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March 26, 2018, 12:09:01 PM
Reply #1
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panic mode

Global Moderator
that should do it although motors for arm are powered by undersized drives. (should be 48A units).
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

March 26, 2018, 12:51:39 PM
Reply #2
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cientista


The info that i had provide is from axis 1 2 and 3.
Are you refering to axis 4 5 and 6?

March 26, 2018, 01:39:43 PM
Reply #3
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panic mode

Global Moderator
A1, A2, A3 are "robot arm"
A4, A4, A6 are "robot wrist"


i was referring to robot arm.

March 26, 2018, 02:27:12 PM
Reply #4
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cientista


Thank you panicmode for help.

Ok.
It makes sense however I'm still not familiar with this robot terminology.

So i am good ?
Default KR200L170 Mada requires KSD32 but in my krc2 i have 3un of KSD 48.

My machine.dat now have:
CHAR $SERVOFILE1[16]
$SERVOFILE1[]="KSD_32_MG1_S7_0"
CHAR $SERVOFILE2[16]
$SERVOFILE2[]="KSD_32_MIall"
CHAR $SERVOFILE3[16]
$SERVOFILE3[]="KSD_32_MIall"
CHAR $SERVOFILE4[16]
$SERVOFILE4[]="KSD_16_MH_L"
CHAR $SERVOFILE5[16]
$SERVOFILE5[]="KSD_16_MH_L"
CHAR $SERVOFILE6[16]
$SERVOFILE6[]="KSD_16_MH_L"


I need to replace first 3 to ksd 48 .servo files so the errors disapear.
i dont know wich is the correct one. For KSD48 i have possible .servo files:

KSD_48_Iall
MA_A
MG1_S
MG1all
MI_S
MI1_S
Mi1all
MIall
MK_S7_0

Can you advise me wich one is the correct one that i can put to correct the errors ?
Do i need to change anything more ?

Thank you.
« Last Edit: March 26, 2018, 02:36:29 PM by cientista »

March 26, 2018, 02:35:18 PM
Reply #5
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cientista


KSD_48_Iall.servo refer motor 1FK7101S06 i think is good for axis 2 and axis3.
****************************************
;*** KUKA   Parametersatz             ***
;*** Servoregler: KSD1-48             ***
;*** Motortyp:  I     1FK7101S06      ***
;*** Motortyp:  I     MCS19F 47       ***
;*** Version 0   vom 02.01.03          ***
;****************************************

No servo file refer motor 1FK7100 that i have in my axis 1. :(

March 26, 2018, 05:12:15 PM
Reply #6
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panic mode

Global Moderator
1FK7xxx is a Siemens article number which is not easy to work with as it is not mentioned in Kuka documentation.
Kuka has own article numbers such as 00-116-606


Both article numbers are printed on motor label. Please use Kuka #


Today at 10:19:13 PM
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March 26, 2018, 05:47:31 PM
Reply #7
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cientista


one more point learned.
kuka art numbers:
axis1:   art nr 0000117606  kty84
axis2=axis3= art nr 0000119766 kty84

March 28, 2018, 03:01:06 PM
Reply #8
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cientista


Still trying to find possible servo file to use to my axis 1 2 and 3 motors kuka art numbers:
axis1:   art nr 0000117606  kty84
axis2=axis3= art nr 0000119766 kty84

KSD_48_Iall.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I     1FK7101S06        ***
;*** Motortyp:  I       MCS19F 47       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    75    ;VP_Isq-Regler
PI   1070,  0 =   155    ;KI_Isq-Regler
PI   1071,  0 =    74    ;VP_Isd-Regler
PI   1072,  0 =   155    ;KI_Isd-Regler
PI   1073,  0 =   150    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MA_A.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  A         KK65Y               ***
;*** Lieferant: Fa. PacSci                    ***
;*** Versionsstand1 vom 25.02.2000            ***
;****************************************
;
;
PI   1069,  0 =    50    ;VP_Isq-Regler
PI   1070,  0 =   188    ;KI_Isq-Regler
PI   1071,  0 =    49    ;VP_Isd-Regler
PI   1072,  0 =   188    ;KI_Isd-Regler
PI   1073,  0 =   196    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MG1_S.servo
Quote
;****************************************
;*** KUKA   Parametersatz             ***
;*** Servoregler: KSD1-48             ***
;*** Motortyp:  G1      1FK6100 S41 Rev. 1  ***
;*** Lieferant: Fa. Siemens             ***
;*** Version 1   vom 08.06.2000          ***
;****************************************
;
;
PI   1069,  0 =    48    ;VP_Isq-Regler
PI   1070,  0 =   334    ;KI_Isq-Regler
PI   1071,  0 =    47    ;VP_Isd-Regler
PI   1072,  0 =   334    ;KI_Isd-Regler
PI   1073,  0 =   123    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MG1all.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  G1      FK7100 5AZ9 S41 ***
;*** Motortyp:  G1       MCS19F 43      ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    55    ;VP_Isq-Regler
PI   1070,  0 =   108    ;KI_Isq-Regler
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   109    ;KI_Isd-Regler
PI   1073,  0 =   121    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MI_S.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  I         1FK6101S43          ***
;*** Lieferant: Fa. Siemens                   ***
;*** Versionsstand2 vom 11.10.2000            ***
;****************************************
;
;
PI   1069,  0 =    48    ;VP_Isq-Regler
PI   1070,  0 =   292    ;KI_Isq-Regler
PI   1071,  0 =    47    ;VP_Isd-Regler
PI   1072,  0 =   292    ;KI_Isd-Regler
PI   1073,  0 =   154    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MI1.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  I1         1FK6101S44         ***
;*** Lieferant: Fa. Siemens                   ***
;*** Versionsstand1 vom 11.10.2000            ***
;****************************************
;
;
PI   1069,  0 =    33    ;VP_Isq-Regler
PI   1070,  0 =   390    ;KI_Isq-Regler
PI   1071,  0 =    32    ;VP_Isd-Regler
PI   1072,  0 =   390    ;KI_Isd-Regler
PI   1073,  0 =   178    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

KSD_48_MI1all.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I1    1FK7101S07        ***
;*** Motortyp:  I1      MCS19F 33       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    90    ;VP_Isq-Regler
PI   1070,  0 =   220    ;KI_Isq-Regler
PI   1071,  0 =    89    ;VP_Isd-Regler
PI   1072,  0 =   220    ;KI_Isd-Regler
PI   1073,  0 =   174    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MIall.servo
Quote
;****************************************
;*** KUKA   Parametersatz                ***
;*** Servoregler: KSD1-48                ***
;*** Motortyp:  I     1FK7101S06        ***
;*** Motortyp:  I       MCS19F 47       ***
;*** Version 0   vom 02.01.03            ***
;****************************************
;
;
PI   1069,  0 =    75    ;VP_Isq-Regler
PI   1070,  0 =   155    ;KI_Isq-Regler
PI   1071,  0 =    74    ;VP_Isd-Regler
PI   1072,  0 =   155    ;KI_Isd-Regler
PI   1073,  0 =   150    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
;

KSD_48_MK_S7_0.servo
Quote
;****************************************
;*** KUKA   Parametersatz                     ***
;*** Servoregler: KSD1-48                     ***
;*** Motortyp:  1FK7103 I          ***
;*** Lieferant: Fa. Siemens                   ***
;*** TestVersion 0   vom 16.12.02                  ***
;****************************************
;
;
PI   1069,  0 =    46    ;VP_Isq-Regler
PI   1070,  0 =   139    ;KI_Isq-Regler
PI   1071,  0 =    45    ;VP_Isd-Regler
PI   1072,  0 =   139    ;KI_Isd-Regler
PI   1073,  0 =   152    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrequenz 4kHz
;

March 28, 2018, 03:17:13 PM
Reply #9
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cientista


Only .servo files that refer my axis 1 motor siemens reference is:

Search "FK7100" (3 hits in 3 files)
  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_32_MG1_7.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1069,  0 =    55    ;VP_Isq-Regler 
PI   1070,  0 =   100    ;KI_Isq-Regler 
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   100    ;KI_Isd-Regler
PI   1073,  0 =   122    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz


  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_32_MG1_S7_0.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1018,  0 =     0    ;Schaltfrquenz 4kHz
PI   1069,  0 =    64    ;VP_Isq-Regler
PI   1070,  0 =   236    ;KI_Isq-Regler
PI   1071,  0 =    63    ;VP_Isd-Regler
PI   1072,  0 =   236    ;KI_Isd-Regler
PI   1073,  0 =   123    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung

  C:\Users\Raquel Antunes\Desktop\mada\Mada\KSD_48_MG1all.servo (1 hit)
   Line 4: ;*** Motortyp:  G1      FK7100 5AZ9 S41 ***

PI   1069,  0 =    55    ;VP_Isq-Regler
PI   1070,  0 =   108    ;KI_Isq-Regler
PI   1071,  0 =    54    ;VP_Isd-Regler
PI   1072,  0 =   109    ;KI_Isd-Regler
PI   1073,  0 =   121    ;Back_EMF
PI   1092,  0 =    18    ;Reglervorsteuerung
PI   1018,  0 =     0    ;Schaltfrquenz 4kHz


diferent proprieties. any help ?

December 30, 2018, 07:23:36 PM
Reply #10
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cientista


Hi,
I still dont resolve the issue about the three erros about diferent KSD.

Robot is moving but with this 3 errors.


https://www.youtube.com/watch?v=rh943f3Ohbg

Any help about the correct file to put in mada ?
« Last Edit: April 05, 2019, 02:42:37 PM by cientista »

December 30, 2018, 10:50:21 PM
Reply #11
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SkyeFire

Global Moderator
See the attached file.

January 02, 2019, 05:04:11 PM
Reply #12
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cientista


Thank you. Thank you very much. SkyeFire !!!
That's exactly what I needed.
But I have a problem.
The robot did not come with documentation and next to the engines I only have the siemens reference.
Is there any siemens-> kuka reference conversion table to find the appropriate servofile?

axis 1: 1FK7100-5AZ91-1ZZ9-Z S05
SerNR YF T950 3820 30 014
3.2KW 7,3A 181V
4300/5000min-1

axis2: 1FK7101-5AZ91-1ZZ9-Z S06
Ser.Nr.: YF T850 3781 20 021
3,3KW 7,0A 200V
3750/5000min-1

axis3:1FK7101-5AZ91-1ZZ9-Z S06
YF T850 3781 20 018
3.3 KW 7.0A 200V
3750/5000 min-1

January 02, 2019, 05:19:30 PM
Reply #13
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cientista


sorry.

Thank you..

Already founded but dont remember:

motors kuka art numbers:
axis1:   art nr 0000117606  kty84   ---> KSD_48_MG1all
axis2=axis3= art nr 0000119766 kty84  ->  KSD_48_MIaII

Today at 10:19:13 PM
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January 02, 2019, 05:24:34 PM
Reply #14
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panic mode

Global Moderator

1FK7100-xxx = G1 (Mx_180_180_40_S0)
1FK7101-xxx = I / I1 (Mx_228_180_30_S0 / Mx_260_180_30_S0)

January 02, 2019, 05:41:13 PM
Reply #15
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cientista


Now, i am in process of adding one external axis.

A beautiful Ruckle PKT1200 Rotary Table from 1982.

I will buy another 1FK7101-5AZ91-1ZZ9-Z S06.
I think it will do the job.
Need another KSD1-48.
And cables that i still dont know the correct references.

I let you see some photos from the rotary table.
I made resize of photos.
If needed less size tell me please.

Thank you for your support.

January 03, 2019, 12:10:26 PM
Reply #16
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cientista


Hi,

I need cable kit to add 7th axis .
I think i need cables W108661 W108631 W108632 W108632BR X7.1 N7X1.1
Big problem i dont see any of them on ebay.
At least with that references.

I saw on one website for 8000 € ?
for 3 cables ? is this normal ?

January 03, 2019, 02:26:12 PM
Reply #17
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SkyeFire

Global Moderator
Well, the cables are nothing terribly exotic --  the wiring and connectors are all standard component, not KUKA-only.  You could probably have a local custom cable builder make them for you, although they might need samples of the cables you already have as an example.

I'm working from memory, here, but when adding a 7th axis to a 6-axis KRC2, the wiring for connecting the 7th KSD to the KPP should already be present in the controller, with the plugs dangling empty.  What you'll need will be:
1.  IBus cable for daisy-chain from KSD6 to KSD7 (look at the white cables between existing KSDs).  This should be a standard RJ45 Ethernet cable, IIRC
2.  Motor output cable from KSD7 to Servo 7.  The KUKA kit for this usually has a short internal cable, which includes a "bulkhead" socket to be mounted in one of the unoccupied spots in the lower bulkhead (where all the Harting connectors plug into the KRC).  Then, from there to the motor, there's a cable with the standard KUKA/Siemens "servo" connector on each end (one male, one female).
3.  Resolver cable.  This does not connect to the KRC.  Rather, it runs from the Resolver connector on the motor, to one of the unoccupied slots in the RDC card in the base of the robot.  If you open up the junction box at the base of the robot arm (where the main motor cable and resolver cable from the KRC attach), you'll see the RDC board.  On one side, you'll see a row of 8 flat connectors -- the first 6 will be occupied with cables from A1-A6.  You will need to connect the 7th axis Resolver to the 7th connector.

The attached PDF has some instructions on replacing the KPP or KSDs -- the process for adding a KSD is essentially the same, except that you need to remove the blank metal plate that covers the cooling vent access for KSD 7.  The wiring for all KSDs is standardized, so it's just a matter of keeping the cables organized.

February 06, 2019, 05:07:39 PM
Reply #18
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cientista


Thank You !

I already identified all the plugs i need and bought them, and make a hole in the mounting plate to receive the ksd48 that i bought.

Now i am trying to buy a I/O module, so when i go to robot assemble everything try to add some I/0 on the robot.

I am looking to Beckhoff BK5200 or Beckhoff LC5200 because there are some posts on this forum about that brand with very good help to configure them.
Because i already have X801 Devicenet on the KRC2. It is the simplest way and cheapest ?

Beckoff LC5200 is 70€
Beckoff BK5200 is 204 €
It is the same thing LC5200 or BK5200 ?
Only diference is LC is a chep, low cost solution ?
I only need one of this and then the inputs and output cards right ?
And cables and some work wiring them, i already read some posts.
Thank you in advance

February 06, 2019, 05:56:02 PM
Reply #19
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panic mode

Global Moderator
i don't know about "the only" difference but yes, both products are meant for same job, they are DeviceNet bus couplers. then you add IO modules and end cap. Bus wiring is absolutely the same.

February 06, 2019, 06:17:02 PM
Reply #20
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cientista


Thank you Panic Mode On(e)

The more I learn the less I know.

Let the LC5200 come then !

Today at 10:19:13 PM
Reply #21

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April 05, 2019, 09:46:59 AM
Reply #21
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cientista


Hi again,
The beckhoff LC5200 is working perfect.
Thank you for your help, and some other posts in this forum.
After very trial and error i can control my outputs.

Now i am trying to control my turntable, i already install everything.
Motor, ksd, motor cable, resolver cable.
 
I run external axis configure, put everything i consider right. and then show two errors and can't inicialize Submit intreptrer:
255 ex_ax_num invalid value
259 /r1 machine data loader aborted
55 initizialization  of the dse running
1541 machine data error
40 poweron finished

I already compared the two machine.dat files, and only find one diference, line two the external axis configurator add: &REL 12

Any sugestion to see the S grreen light ?

My original machine.dat file with working robot:
Code: [Select]
&PARAM VERSION = 3.8.3
DEFDAT  $MACHINE PUBLIC
CHAR $V_R1MADA[32]
$V_R1MADA[]="V3.8.3/KUKA5.6" ;VERSIONSKENNUNG
INT $TECH_MAX=6 ;MAX. ANZAHL FUNKTIONSGENERATOREN
INT $NUM_AX=6 ;ACHSEN DES ROBOTERSYSTEMS
INT $AXIS_TYPE[12] ;ACHSENKENNUNG
$AXIS_TYPE[1]=3 ;1 = LINEAR, 2 = SPINDEL, 3 = ROTATORISCH, 4 = ENDLICH DREHEND, 5 = ENDLOS
$AXIS_TYPE[2]=3
$AXIS_TYPE[3]=3
$AXIS_TYPE[4]=3
$AXIS_TYPE[5]=3
$AXIS_TYPE[6]=3
$AXIS_TYPE[7]=3
$AXIS_TYPE[8]=3
$AXIS_TYPE[9]=3
$AXIS_TYPE[10]=3
$AXIS_TYPE[11]=3
$AXIS_TYPE[12]=3
DECL FRA $COUP_COMP[6,6] ;ACHSKOPPLUNGSFAKTOR N = ZAEHLER, D = NENNER
$COUP_COMP[1,2]={N 0,D 1}
$COUP_COMP[1,3]={N 0,D 1}
$COUP_COMP[1,4]={N 0,D 1}
$COUP_COMP[1,5]={N 0,D 1}
$COUP_COMP[1,6]={N 0,D 1}
$COUP_COMP[2,1]={N 0,D 1}
$COUP_COMP[2,3]={N 0,D 1}
$COUP_COMP[2,4]={N 0,D 1}
$COUP_COMP[2,5]={N 0,D 1}
$COUP_COMP[2,6]={N 0,D 1}
$COUP_COMP[3,1]={N 0,D 1}
$COUP_COMP[3,2]={N 0,D 1}
$COUP_COMP[3,4]={N 0,D 1}
$COUP_COMP[3,5]={N 0,D 1}
$COUP_COMP[3,6]={N 0,D 1}
$COUP_COMP[4,1]={N 0,D 1}
$COUP_COMP[4,2]={N 0,D 1}
$COUP_COMP[4,3]={N 0,D 1}
$COUP_COMP[4,5]={N -1,D 170}
$COUP_COMP[4,6]={N -2736,D 267750}
$COUP_COMP[5,1]={N 0,D 1}
$COUP_COMP[5,2]={N 0,D 1}
$COUP_COMP[5,3]={N 0,D 1}
$COUP_COMP[5,4]={N 0,D 1}
$COUP_COMP[5,6]={N 16,D 1575}
$COUP_COMP[6,1]={N 0,D 1}
$COUP_COMP[6,2]={N 0,D 1}
$COUP_COMP[6,3]={N 0,D 1}
$COUP_COMP[6,4]={N 0,D 1}
$COUP_COMP[6,5]={N 0,D 1}
DECL FRA $EXCOUP_COMP[6,6] ;KOPPLUNGSFAKTOREN ACHSE 7 (INDEX 1) BIS ACHSE 12 (INDEX 12), N = ZAEHLER, D =NENNER
$EXCOUP_COMP[1,2]={N 0,D 1}
$EXCOUP_COMP[1,3]={N 0,D 1}
$EXCOUP_COMP[1,4]={N 0,D 1}
$EXCOUP_COMP[1,5]={N 0,D 1}
$EXCOUP_COMP[1,6]={N 0,D 1}
$EXCOUP_COMP[2,1]={N 0,D 1}
$EXCOUP_COMP[2,3]={N 0,D 1}
$EXCOUP_COMP[2,4]={N 0,D 1}
$EXCOUP_COMP[2,5]={N 0,D 1}
$EXCOUP_COMP[2,6]={N 0,D 1}
$EXCOUP_COMP[3,1]={N 0,D 1}
$EXCOUP_COMP[3,2]={N 0,D 1}
$EXCOUP_COMP[3,4]={N 0,D 1}
$EXCOUP_COMP[3,5]={N 0,D 1}
$EXCOUP_COMP[3,6]={N 0,D 1}
$EXCOUP_COMP[4,1]={N 0,D 1}
$EXCOUP_COMP[4,2]={N 0,D 1}
$EXCOUP_COMP[4,3]={N 0,D 1}
$EXCOUP_COMP[4,5]={N 0,D 1}
$EXCOUP_COMP[4,6]={N 0,D 1}
$EXCOUP_COMP[5,1]={N 0,D 1}
$EXCOUP_COMP[5,2]={N 0,D 1}
$EXCOUP_COMP[5,3]={N 0,D 1}
$EXCOUP_COMP[5,4]={N 0,D 1}
$EXCOUP_COMP[5,6]={N 0,D 1}
$EXCOUP_COMP[6,1]={N 0,D 1}
$EXCOUP_COMP[6,2]={N 0,D 1}
$EXCOUP_COMP[6,3]={N 0,D 1}
$EXCOUP_COMP[6,4]={N 0,D 1}
$EXCOUP_COMP[6,5]={N 0,D 1}
REAL $MAMES[12] ;VERSCHIEBUNG ZW. MECH. UND MATH. NULLPUNKT ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$MAMES[1]=0.0
$MAMES[2]=-90.0
$MAMES[3]=90.0
$MAMES[4]=0.0
$MAMES[5]=0.0
$MAMES[6]=0.0
$MAMES[7]=0.0
$MAMES[8]=0.0
$MAMES[9]=0.0
$MAMES[10]=0.0
$MAMES[11]=0.0
$MAMES[12]=0.0
DECL INDIVIDUAL_MAMES $INDIVIDUAL_MAMES=#NONE ; Existenz individueller MAMES-Werte
FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTER IM WELTKOORDINATENSYSTEM [MM,GRAD]
FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTERFUSSPUNKTKINEMATIK IM WELTKOORDINATENSYSTEM [MM,GRAD]
DECL FRA $RAT_MOT_AX[12] ;UEBERSETZUNG MOTOR-ACHSE N = ZAEHLER, D = NENNER
$RAT_MOT_AX[1]={N -219,D 1}
$RAT_MOT_AX[2]={N -5512,D 23}
$RAT_MOT_AX[3]={N -2853,D 13}
$RAT_MOT_AX[4]={N -3705,D 22}
$RAT_MOT_AX[5]={N -170,D 1}
$RAT_MOT_AX[6]={N 1575,D 16}
$RAT_MOT_AX[7]={N 0,D 1}
$RAT_MOT_AX[8]={N 0,D 1}
$RAT_MOT_AX[9]={N 0,D 1}
$RAT_MOT_AX[10]={N 0,D 1}
$RAT_MOT_AX[11]={N 0,D 1}
$RAT_MOT_AX[12]={N 0,D 1}
DECL FRA $RAT_MOT_ENC[12] ;UEBERSETZUNG MOTOR-GEBER ACHSE[I] (I=1:A1,I=7:E1) N = ZAEHLER, D = NENNER
$RAT_MOT_ENC[1]={N 1,D 4}
$RAT_MOT_ENC[2]={N 1,D 4}
$RAT_MOT_ENC[3]={N 1,D 4}
$RAT_MOT_ENC[4]={N 1,D 4}
$RAT_MOT_ENC[5]={N 1,D 4}
$RAT_MOT_ENC[6]={N 1,D 4}
$RAT_MOT_ENC[7]={N 1,D 3}
$RAT_MOT_ENC[8]={N 1,D 3}
$RAT_MOT_ENC[9]={N 1,D 3}
$RAT_MOT_ENC[10]={N 1,D 3}
$RAT_MOT_ENC[11]={N 1,D 3}
$RAT_MOT_ENC[12]={N 1,D 3}
INT $DSECHANNEL[12] ;ACHSZUORDNUNG AUF DSE
$DSECHANNEL[1]=1
$DSECHANNEL[2]=2
$DSECHANNEL[3]=3
$DSECHANNEL[4]=4
$DSECHANNEL[5]=5
$DSECHANNEL[6]=6
$DSECHANNEL[7]=0
$DSECHANNEL[8]=0
$DSECHANNEL[9]=0
$DSECHANNEL[10]=0
$DSECHANNEL[11]=0
$DSECHANNEL[12]=0
INT $PMCHANNEL[12] ;ZUORDNUNG DER ACHSE ZU DSE, KPS, BREMSENKANAL UND SBM
$PMCHANNEL[1]=20
$PMCHANNEL[2]=20
$PMCHANNEL[3]=20
$PMCHANNEL[4]=20
$PMCHANNEL[5]=20
$PMCHANNEL[6]=20
$PMCHANNEL[7]=0
$PMCHANNEL[8]=0
$PMCHANNEL[9]=0
$PMCHANNEL[10]=0
$PMCHANNEL[11]=0
$PMCHANNEL[12]=0
DECL REAL $LOOP_LG_PTP[18] ;NUR FUER POS-SLAVES!!! - VERSTAERKUNG DES LAGESREGLERS
$LOOP_LG_PTP[1]=0.0
$LOOP_LG_PTP[2]=0.0
$LOOP_LG_PTP[3]=0.0
$LOOP_LG_PTP[4]=0.0
$LOOP_LG_PTP[5]=0.0
$LOOP_LG_PTP[6]=0.0
$LOOP_LG_PTP[7]=0.0
$LOOP_LG_PTP[8]=0.0
$LOOP_LG_PTP[9]=0.0
$LOOP_LG_PTP[10]=0.0
$LOOP_LG_PTP[11]=0.0
$LOOP_LG_PTP[12]=0.0
$LOOP_LG_PTP[13]=0.0
$LOOP_LG_PTP[14]=0.0
$LOOP_LG_PTP[15]=0.0
$LOOP_LG_PTP[16]=0.0
$LOOP_LG_PTP[17]=0.0
$LOOP_LG_PTP[18]=0.0
DECL REAL $LOOP_I_LG_PTP[18] ;NUR FUER POS-SLAVES!!! - INTEGRALANTEIL DES LAGEREGLERS
$LOOP_I_LG_PTP[1]=0.0
$LOOP_I_LG_PTP[2]=0.0
$LOOP_I_LG_PTP[3]=0.0
$LOOP_I_LG_PTP[4]=0.0
$LOOP_I_LG_PTP[5]=0.0
$LOOP_I_LG_PTP[6]=0.0
$LOOP_I_LG_PTP[7]=0.0
$LOOP_I_LG_PTP[8]=0.0
$LOOP_I_LG_PTP[9]=0.0
$LOOP_I_LG_PTP[10]=0.0
$LOOP_I_LG_PTP[11]=0.0
$LOOP_I_LG_PTP[12]=0.0
$LOOP_I_LG_PTP[13]=0.0
$LOOP_I_LG_PTP[14]=0.0
$LOOP_I_LG_PTP[15]=0.0
$LOOP_I_LG_PTP[16]=0.0
$LOOP_I_LG_PTP[17]=0.0
$LOOP_I_LG_PTP[18]=0.0
DECL REAL $LOOP_G_VEL_PTP[18] ;NUR FUER POS-SLAVES!!! - VERSTAERKUNG DES DREHZAHLREGLERS
$LOOP_G_VEL_PTP[1]=0.0
$LOOP_G_VEL_PTP[2]=0.0
$LOOP_G_VEL_PTP[3]=0.0
$LOOP_G_VEL_PTP[4]=0.0
$LOOP_G_VEL_PTP[5]=0.0
$LOOP_G_VEL_PTP[6]=0.0
$LOOP_G_VEL_PTP[7]=0.0
$LOOP_G_VEL_PTP[8]=0.0
$LOOP_G_VEL_PTP[9]=0.0
$LOOP_G_VEL_PTP[10]=0.0
$LOOP_G_VEL_PTP[11]=0.0
$LOOP_G_VEL_PTP[12]=0.0
$LOOP_G_VEL_PTP[13]=0.0
$LOOP_G_VEL_PTP[14]=0.0
$LOOP_G_VEL_PTP[15]=0.0
$LOOP_G_VEL_PTP[16]=0.0
$LOOP_G_VEL_PTP[17]=0.0
$LOOP_G_VEL_PTP[18]=0.0
DECL REAL $LOOP_I_VEL_PTP[18] ;NUR FUER POS-SLAVES!!! - INTEGRALANTEIL DES DREHZAHLREGLERS
$LOOP_I_VEL_PTP[1]=0.0
$LOOP_I_VEL_PTP[2]=0.0
$LOOP_I_VEL_PTP[3]=0.0
$LOOP_I_VEL_PTP[4]=0.0
$LOOP_I_VEL_PTP[5]=0.0
$LOOP_I_VEL_PTP[6]=0.0
$LOOP_I_VEL_PTP[7]=0.0
$LOOP_I_VEL_PTP[8]=0.0
$LOOP_I_VEL_PTP[9]=0.0
$LOOP_I_VEL_PTP[10]=0.0
$LOOP_I_VEL_PTP[11]=0.0
$LOOP_I_VEL_PTP[12]=0.0
$LOOP_I_VEL_PTP[13]=0.0
$LOOP_I_VEL_PTP[14]=0.0
$LOOP_I_VEL_PTP[15]=0.0
$LOOP_I_VEL_PTP[16]=0.0
$LOOP_I_VEL_PTP[17]=0.0
$LOOP_I_VEL_PTP[18]=0.0
DECL INT $LOOP_DIRECTION[18] ;NUR FUER SLAVES!!! 1=GLEICHE RICHTUNG WIE MASTER, -1=ENTGEGENGESETZT
$LOOP_DIRECTION[1]=1
$LOOP_DIRECTION[2]=1
$LOOP_DIRECTION[3]=1
$LOOP_DIRECTION[4]=1
$LOOP_DIRECTION[5]=1
$LOOP_DIRECTION[6]=1
$LOOP_DIRECTION[7]=1
$LOOP_DIRECTION[8]=1
$LOOP_DIRECTION[9]=1
$LOOP_DIRECTION[10]=1
$LOOP_DIRECTION[11]=1
$LOOP_DIRECTION[12]=1
$LOOP_DIRECTION[13]=1
$LOOP_DIRECTION[14]=1
$LOOP_DIRECTION[15]=1
$LOOP_DIRECTION[16]=1
$LOOP_DIRECTION[17]=1
$LOOP_DIRECTION[18]=1
DECL INT $SLAVE_LOOP_FOL_CRITICAL[18] ;PROZENTWERT ZUR KONFIGURATION EINER MAX. ABWEICHGRENZE MASTER ZU SLAVE (>100%)
$SLAVE_LOOP_FOL_CRITICAL[1]=1
$SLAVE_LOOP_FOL_CRITICAL[2]=1
$SLAVE_LOOP_FOL_CRITICAL[3]=1
$SLAVE_LOOP_FOL_CRITICAL[4]=1
$SLAVE_LOOP_FOL_CRITICAL[5]=1
$SLAVE_LOOP_FOL_CRITICAL[6]=1
$SLAVE_LOOP_FOL_CRITICAL[7]=1
$SLAVE_LOOP_FOL_CRITICAL[8]=1
$SLAVE_LOOP_FOL_CRITICAL[9]=1
$SLAVE_LOOP_FOL_CRITICAL[10]=1
$SLAVE_LOOP_FOL_CRITICAL[11]=1
$SLAVE_LOOP_FOL_CRITICAL[12]=1
$SLAVE_LOOP_FOL_CRITICAL[13]=1
$SLAVE_LOOP_FOL_CRITICAL[14]=1
$SLAVE_LOOP_FOL_CRITICAL[15]=1
$SLAVE_LOOP_FOL_CRITICAL[16]=1
$SLAVE_LOOP_FOL_CRITICAL[17]=1
$SLAVE_LOOP_FOL_CRITICAL[18]=1
DECL REAL $SLAVE_LOOP_FOL_ALARM[18] ;ABWEICHUNGSLIMIT ZW. MASTER UND SLAVE (IN GRAD BZW. MM)
$SLAVE_LOOP_FOL_ALARM[1]=0.0
$SLAVE_LOOP_FOL_ALARM[2]=0.0
$SLAVE_LOOP_FOL_ALARM[3]=0.0
$SLAVE_LOOP_FOL_ALARM[4]=0.0
$SLAVE_LOOP_FOL_ALARM[5]=0.0
$SLAVE_LOOP_FOL_ALARM[6]=0.0
$SLAVE_LOOP_FOL_ALARM[7]=0.0
$SLAVE_LOOP_FOL_ALARM[8]=0.0
$SLAVE_LOOP_FOL_ALARM[9]=0.0
$SLAVE_LOOP_FOL_ALARM[10]=0.0
$SLAVE_LOOP_FOL_ALARM[11]=0.0
$SLAVE_LOOP_FOL_ALARM[12]=0.0
$SLAVE_LOOP_FOL_ALARM[13]=0.0
$SLAVE_LOOP_FOL_ALARM[14]=0.0
$SLAVE_LOOP_FOL_ALARM[15]=0.0
$SLAVE_LOOP_FOL_ALARM[16]=0.0
$SLAVE_LOOP_FOL_ALARM[17]=0.0
$SLAVE_LOOP_FOL_ALARM[18]=0.0
DECL REAL $SLAVE_LOOP_SPEED_ALARM[18] ;MAX. GESCHW.-ABW. (1/MIN) FUER MOMENTENGEREGELTE SLAVE-ANTRIEB
$SLAVE_LOOP_SPEED_ALARM[1]=0.0
$SLAVE_LOOP_SPEED_ALARM[2]=0.0
$SLAVE_LOOP_SPEED_ALARM[3]=0.0
$SLAVE_LOOP_SPEED_ALARM[4]=0.0
$SLAVE_LOOP_SPEED_ALARM[5]=0.0
$SLAVE_LOOP_SPEED_ALARM[6]=0.0
$SLAVE_LOOP_SPEED_ALARM[7]=0.0
$SLAVE_LOOP_SPEED_ALARM[8]=0.0
$SLAVE_LOOP_SPEED_ALARM[9]=0.0
$SLAVE_LOOP_SPEED_ALARM[10]=0.0
$SLAVE_LOOP_SPEED_ALARM[11]=0.0
$SLAVE_LOOP_SPEED_ALARM[12]=0.0
$SLAVE_LOOP_SPEED_ALARM[13]=0.0
$SLAVE_LOOP_SPEED_ALARM[14]=0.0
$SLAVE_LOOP_SPEED_ALARM[15]=0.0
$SLAVE_LOOP_SPEED_ALARM[16]=0.0
$SLAVE_LOOP_SPEED_ALARM[17]=0.0
$SLAVE_LOOP_SPEED_ALARM[18]=0.0
DECL INT $SLAVE_LOOP_PMCHANNEL[18] ;POWERMODUL FUER SLAVE-REGELKREISE
$SLAVE_LOOP_PMCHANNEL[1]=0
$SLAVE_LOOP_PMCHANNEL[2]=0
$SLAVE_LOOP_PMCHANNEL[3]=0
$SLAVE_LOOP_PMCHANNEL[4]=0
$SLAVE_LOOP_PMCHANNEL[5]=0
$SLAVE_LOOP_PMCHANNEL[6]=0
$SLAVE_LOOP_PMCHANNEL[7]=0
$SLAVE_LOOP_PMCHANNEL[8]=0
$SLAVE_LOOP_PMCHANNEL[9]=0
$SLAVE_LOOP_PMCHANNEL[10]=0
$SLAVE_LOOP_PMCHANNEL[11]=0
$SLAVE_LOOP_PMCHANNEL[12]=0
$SLAVE_LOOP_PMCHANNEL[13]=0
$SLAVE_LOOP_PMCHANNEL[14]=0
$SLAVE_LOOP_PMCHANNEL[15]=0
$SLAVE_LOOP_PMCHANNEL[16]=0
$SLAVE_LOOP_PMCHANNEL[17]=0
$SLAVE_LOOP_PMCHANNEL[18]=0
DECL INT $LOOP_TYPE[18] ;1:MASTER (DEFAULT), 2:POS.-GEREGELTER SLAVE, 3:MOMENTENGEREGELTER SLAVE, 4:PARALLEL KSD, 5:POSITION TRACKER, 6:KRAFTREGELUNG, 7:EXTERN KONFIGURIERT, 8:EKO MASTER, 9:EKO SLAVE
$LOOP_TYPE[1]=1
$LOOP_TYPE[2]=1
$LOOP_TYPE[3]=1
$LOOP_TYPE[4]=1
$LOOP_TYPE[5]=1
$LOOP_TYPE[6]=1
$LOOP_TYPE[7]=1
$LOOP_TYPE[8]=1
$LOOP_TYPE[9]=1
$LOOP_TYPE[10]=1
$LOOP_TYPE[11]=1
$LOOP_TYPE[12]=1
$LOOP_TYPE[13]=1
$LOOP_TYPE[14]=1
$LOOP_TYPE[15]=1
$LOOP_TYPE[16]=1
$LOOP_TYPE[17]=1
$LOOP_TYPE[18]=1
DECL INT $LOOP_TYPE_ATTRIBUTE[18] ;ZUSAETZLICHE EIGENSCHAFTEN DES REGELKREISES
$LOOP_TYPE_ATTRIBUTE[1]=0
$LOOP_TYPE_ATTRIBUTE[2]=0
$LOOP_TYPE_ATTRIBUTE[3]=0
$LOOP_TYPE_ATTRIBUTE[4]=0
$LOOP_TYPE_ATTRIBUTE[5]=0
$LOOP_TYPE_ATTRIBUTE[6]=0
$LOOP_TYPE_ATTRIBUTE[7]=0
$LOOP_TYPE_ATTRIBUTE[8]=0
$LOOP_TYPE_ATTRIBUTE[9]=0
$LOOP_TYPE_ATTRIBUTE[10]=0
$LOOP_TYPE_ATTRIBUTE[11]=0
$LOOP_TYPE_ATTRIBUTE[12]=0
$LOOP_TYPE_ATTRIBUTE[13]=0
$LOOP_TYPE_ATTRIBUTE[14]=0
$LOOP_TYPE_ATTRIBUTE[15]=0
$LOOP_TYPE_ATTRIBUTE[16]=0
$LOOP_TYPE_ATTRIBUTE[17]=0
$LOOP_TYPE_ATTRIBUTE[18]=0
DECL INT $MASTER_LOOP[18] ;NUMMER DES MASTER-REGELKREISES, AUF DEN SICH DER SLAVE BEZIEHT
$MASTER_LOOP[1]=0
$MASTER_LOOP[2]=0
$MASTER_LOOP[3]=0
$MASTER_LOOP[4]=0
$MASTER_LOOP[5]=0
$MASTER_LOOP[6]=0
$MASTER_LOOP[7]=0
$MASTER_LOOP[8]=0
$MASTER_LOOP[9]=0
$MASTER_LOOP[10]=0
$MASTER_LOOP[11]=0
$MASTER_LOOP[12]=0
$MASTER_LOOP[13]=0
$MASTER_LOOP[14]=0
$MASTER_LOOP[15]=0
$MASTER_LOOP[16]=0
$MASTER_LOOP[17]=0
$MASTER_LOOP[18]=0
DECL REAL $SLAVE_TORQUE_RATIO[18] ;MOMENTENGEREGELTER SLAVE: VERHAELTNIS SOLLMOMENT SLAVE/MASTER
$SLAVE_TORQUE_RATIO[1]=0.0
$SLAVE_TORQUE_RATIO[2]=0.0
$SLAVE_TORQUE_RATIO[3]=0.0
$SLAVE_TORQUE_RATIO[4]=0.0
$SLAVE_TORQUE_RATIO[5]=0.0
$SLAVE_TORQUE_RATIO[6]=0.0
$SLAVE_TORQUE_RATIO[7]=0.0
$SLAVE_TORQUE_RATIO[8]=0.0
$SLAVE_TORQUE_RATIO[9]=0.0
$SLAVE_TORQUE_RATIO[10]=0.0
$SLAVE_TORQUE_RATIO[11]=0.0
$SLAVE_TORQUE_RATIO[12]=0.0
$SLAVE_TORQUE_RATIO[13]=0.0
$SLAVE_TORQUE_RATIO[14]=0.0
$SLAVE_TORQUE_RATIO[15]=0.0
$SLAVE_TORQUE_RATIO[16]=0.0
$SLAVE_TORQUE_RATIO[17]=0.0
$SLAVE_TORQUE_RATIO[18]=0.0
DECL INT $NINPUT_SENSORTYPE[18] ;DREHZAHL-GEBER. 1:RDW, 2:CAN-RDW, 3:INTERBUS-SENSOR, 4:LASER, 5:ENDAT GEBER, 6:KRC3A
$NINPUT_SENSORTYPE[1]=1
$NINPUT_SENSORTYPE[2]=1
$NINPUT_SENSORTYPE[3]=1
$NINPUT_SENSORTYPE[4]=1
$NINPUT_SENSORTYPE[5]=1
$NINPUT_SENSORTYPE[6]=1
$NINPUT_SENSORTYPE[7]=1
$NINPUT_SENSORTYPE[8]=1
$NINPUT_SENSORTYPE[9]=1
$NINPUT_SENSORTYPE[10]=1
$NINPUT_SENSORTYPE[11]=1
$NINPUT_SENSORTYPE[12]=1
$NINPUT_SENSORTYPE[13]=1
$NINPUT_SENSORTYPE[14]=1
$NINPUT_SENSORTYPE[15]=1
$NINPUT_SENSORTYPE[16]=1
$NINPUT_SENSORTYPE[17]=1
$NINPUT_SENSORTYPE[18]=1
DECL INT $NINPUT_SENSORCHANNEL[18] ;KANALNUMMER DES DREHZAHL-GEBERS
$NINPUT_SENSORCHANNEL[1]=1
$NINPUT_SENSORCHANNEL[2]=2
$NINPUT_SENSORCHANNEL[3]=3
$NINPUT_SENSORCHANNEL[4]=4
$NINPUT_SENSORCHANNEL[5]=5
$NINPUT_SENSORCHANNEL[6]=6
$NINPUT_SENSORCHANNEL[7]=7
$NINPUT_SENSORCHANNEL[8]=8
$NINPUT_SENSORCHANNEL[9]=9
$NINPUT_SENSORCHANNEL[10]=1
$NINPUT_SENSORCHANNEL[11]=2
$NINPUT_SENSORCHANNEL[12]=3
$NINPUT_SENSORCHANNEL[13]=4
$NINPUT_SENSORCHANNEL[14]=5
$NINPUT_SENSORCHANNEL[15]=6
$NINPUT_SENSORCHANNEL[16]=7
$NINPUT_SENSORCHANNEL[17]=8
$NINPUT_SENSORCHANNEL[18]=9
DECL INT $NINPUT_SUBCHANNEL[18] ;UNTERKANAL DES DREHZAHL-GEBERS
$NINPUT_SUBCHANNEL[1]=0
$NINPUT_SUBCHANNEL[2]=0
$NINPUT_SUBCHANNEL[3]=0
$NINPUT_SUBCHANNEL[4]=0
$NINPUT_SUBCHANNEL[5]=0
$NINPUT_SUBCHANNEL[6]=0
$NINPUT_SUBCHANNEL[7]=0
$NINPUT_SUBCHANNEL[8]=0
$NINPUT_SUBCHANNEL[9]=0
$NINPUT_SUBCHANNEL[10]=0
$NINPUT_SUBCHANNEL[11]=0
$NINPUT_SUBCHANNEL[12]=0
$NINPUT_SUBCHANNEL[13]=0
$NINPUT_SUBCHANNEL[14]=0
$NINPUT_SUBCHANNEL[15]=0
$NINPUT_SUBCHANNEL[16]=0
$NINPUT_SUBCHANNEL[17]=0
$NINPUT_SUBCHANNEL[18]=0
DECL INT $POSINPUT_SENSORTYPE[18] ;POSITIONS-GEBER: 1:RDW, 2:CAN-RDW, 3:INTERBUS-SENSOR, 4:LASER, 5:ENDAT GEBER, 6:KRC3A
$POSINPUT_SENSORTYPE[1]=1
$POSINPUT_SENSORTYPE[2]=1
$POSINPUT_SENSORTYPE[3]=1
$POSINPUT_SENSORTYPE[4]=1
$POSINPUT_SENSORTYPE[5]=1
$POSINPUT_SENSORTYPE[6]=1
$POSINPUT_SENSORTYPE[7]=1
$POSINPUT_SENSORTYPE[8]=1
$POSINPUT_SENSORTYPE[9]=1
$POSINPUT_SENSORTYPE[10]=1
$POSINPUT_SENSORTYPE[11]=1
$POSINPUT_SENSORTYPE[12]=1
$POSINPUT_SENSORTYPE[13]=1
$POSINPUT_SENSORTYPE[14]=1
$POSINPUT_SENSORTYPE[15]=1
$POSINPUT_SENSORTYPE[16]=1
$POSINPUT_SENSORTYPE[17]=1
$POSINPUT_SENSORTYPE[18]=1
DECL INT $POSINPUT_SENSORCHANNEL[18] ;KANALNUMMER DES POSITIONS-GEBERS
$POSINPUT_SENSORCHANNEL[1]=1
$POSINPUT_SENSORCHANNEL[2]=2
$POSINPUT_SENSORCHANNEL[3]=3
$POSINPUT_SENSORCHANNEL[4]=4
$POSINPUT_SENSORCHANNEL[5]=5
$POSINPUT_SENSORCHANNEL[6]=6
$POSINPUT_SENSORCHANNEL[7]=7
$POSINPUT_SENSORCHANNEL[8]=8
$POSINPUT_SENSORCHANNEL[9]=9
$POSINPUT_SENSORCHANNEL[10]=1
$POSINPUT_SENSORCHANNEL[11]=2
$POSINPUT_SENSORCHANNEL[12]=3
$POSINPUT_SENSORCHANNEL[13]=4
$POSINPUT_SENSORCHANNEL[14]=5
$POSINPUT_SENSORCHANNEL[15]=6
$POSINPUT_SENSORCHANNEL[16]=7
$POSINPUT_SENSORCHANNEL[17]=8
$POSINPUT_SENSORCHANNEL[18]=9
DECL INT $POSINPUT_SUBCHANNEL[18] ;UNTERKANALNUMMER DES POSITIONS-GEBERS
$POSINPUT_SUBCHANNEL[1]=0
$POSINPUT_SUBCHANNEL[2]=0
$POSINPUT_SUBCHANNEL[3]=0
$POSINPUT_SUBCHANNEL[4]=0
$POSINPUT_SUBCHANNEL[5]=0
$POSINPUT_SUBCHANNEL[6]=0
$POSINPUT_SUBCHANNEL[7]=0
$POSINPUT_SUBCHANNEL[8]=0
$POSINPUT_SUBCHANNEL[9]=0
$POSINPUT_SUBCHANNEL[10]=0
$POSINPUT_SUBCHANNEL[11]=0
$POSINPUT_SUBCHANNEL[12]=0
$POSINPUT_SUBCHANNEL[13]=0
$POSINPUT_SUBCHANNEL[14]=0
$POSINPUT_SUBCHANNEL[15]=0
$POSINPUT_SUBCHANNEL[16]=0
$POSINPUT_SUBCHANNEL[17]=0
$POSINPUT_SUBCHANNEL[18]=0
DECL FRA $LOOP_RAT_MOT_AX[18] ;NUR FUER SLAVES!!! - UEBERSETZUNG MOTOR-ANTRIEBSRAD DER SLAVE ACHSE
$LOOP_RAT_MOT_AX[1]={N 0,D 1}
$LOOP_RAT_MOT_AX[2]={N 0,D 1}
$LOOP_RAT_MOT_AX[3]={N 0,D 1}
$LOOP_RAT_MOT_AX[4]={N 0,D 1}
$LOOP_RAT_MOT_AX[5]={N 0,D 1}
$LOOP_RAT_MOT_AX[6]={N 0,D 1}
$LOOP_RAT_MOT_AX[7]={N 0,D 1}
$LOOP_RAT_MOT_AX[8]={N 0,D 1}
$LOOP_RAT_MOT_AX[9]={N 0,D 1}
$LOOP_RAT_MOT_AX[10]={N 0,D 1}
$LOOP_RAT_MOT_AX[11]={N 0,D 1}
$LOOP_RAT_MOT_AX[12]={N 0,D 1}
$LOOP_RAT_MOT_AX[13]={N 0,D 1}
$LOOP_RAT_MOT_AX[14]={N 0,D 1}
$LOOP_RAT_MOT_AX[15]={N 0,D 1}
$LOOP_RAT_MOT_AX[16]={N 0,D 1}
$LOOP_RAT_MOT_AX[17]={N 0,D 1}
$LOOP_RAT_MOT_AX[18]={N 0,D 1}
DECL FRA $LOOP_RAT_EXTPOS_AX[18] ;UEBERSETZUNG DES SENSORRADES
$LOOP_RAT_EXTPOS_AX[1]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[2]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[3]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[4]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[5]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[6]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[7]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[8]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[9]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[10]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[11]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[12]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[13]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[14]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[15]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[16]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[17]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[18]={N 0,D 1}
DECL INT $MOTOR_POLE_NUMBER[18] ;VARIABLE WIRD NICHT VERWENDET
$MOTOR_POLE_NUMBER[1]=3
$MOTOR_POLE_NUMBER[2]=3
$MOTOR_POLE_NUMBER[3]=3
$MOTOR_POLE_NUMBER[4]=3
$MOTOR_POLE_NUMBER[5]=3
$MOTOR_POLE_NUMBER[6]=3
$MOTOR_POLE_NUMBER[7]=3
$MOTOR_POLE_NUMBER[8]=3
$MOTOR_POLE_NUMBER[9]=3
$MOTOR_POLE_NUMBER[10]=3
$MOTOR_POLE_NUMBER[11]=3
$MOTOR_POLE_NUMBER[12]=3
$MOTOR_POLE_NUMBER[13]=3
$MOTOR_POLE_NUMBER[14]=3
$MOTOR_POLE_NUMBER[15]=3
$MOTOR_POLE_NUMBER[16]=3
$MOTOR_POLE_NUMBER[17]=3
$MOTOR_POLE_NUMBER[18]=3
CHAR $SERVOFILE_CONFIG[16] ;SERVO-CONFIGURATIONSFILE
$SERVOFILE_CONFIG[]="DEFAULT"
CHAR $SERVOFILE1[16]
$SERVOFILE1[]="KSD_32_MG1_S7_0"
CHAR $SERVOFILE2[16]
$SERVOFILE2[]="KSD_32_MIall"
CHAR $SERVOFILE3[16]
$SERVOFILE3[]="KSD_32_MIall"
CHAR $SERVOFILE4[16]
$SERVOFILE4[]="KSD_16_MH_L"
CHAR $SERVOFILE5[16]
$SERVOFILE5[]="KSD_16_MH_L"
CHAR $SERVOFILE6[16]
$SERVOFILE6[]="KSD_16_MH_L"
CHAR $SERVOFILE7[16]
$SERVOFILE7[]="DEFAULT"
CHAR $SERVOFILE8[16]
$SERVOFILE8[]="DEFAULT"
CHAR $SERVOFILE9[16]
$SERVOFILE9[]="DEFAULT"
CHAR $SERVOFILE10[16]
$SERVOFILE10[]="DEFAULT"
CHAR $SERVOFILE11[16]
$SERVOFILE11[]="DEFAULT"
CHAR $SERVOFILE12[16]
$SERVOFILE12[]="DEFAULT"
CHAR $SERVOFILEKPS1[16] ;Servofile KPS1 DSE1
$SERVOFILEKPS1[]="KPS_600_20" ;Servofile KPS1 DSE1
CHAR $SERVOFILEKPS2[16] ;Servofile KPS2 DSE1
$SERVOFILEKPS2[]="DEFAULT" ;Servofile KPS2 DSE1
CHAR $SERVOFILEKPS3[16] ;Servofile KPS3 DSE1
$SERVOFILEKPS3[]="DEFAULT" ;Servofile KPS3 DSE1
CHAR $SERVOFILEKPS4[16] ;Servofile KPS4 DSE1
$SERVOFILEKPS4[]="DEFAULT" ;Servofile KPS4 DSE1
CHAR $SERVOFILEKPS5[16] ;Servofile KPS1 DSE2
$SERVOFILEKPS5[]="DEFAULT" ;Servofile KPS1 DSE2
CHAR $SERVOFILEKPS6[16] ;Servofile KPS2 DSE2
$SERVOFILEKPS6[]="DEFAULT" ;Servofile KPS2 DSE2
CHAR $SERVOFILEKPS7[16] ;Servofile KPS3 DSE2
$SERVOFILEKPS7[]="DEFAULT" ;Servofile KPS3 DSE2
CHAR $SERVOFILEKPS8[16] ;Servofile KPS4 DSE2
$SERVOFILEKPS8[]="DEFAULT" ;Servofile KPS4 DSE2
REAL $CURR_MAX[12] ;MAXIMALER POWERMODUL-STROM IN AEFF
$CURR_MAX[1]=32.0
$CURR_MAX[2]=32.0
$CURR_MAX[3]=32.0
$CURR_MAX[4]=16.0
$CURR_MAX[5]=16.0
$CURR_MAX[6]=16.0
$CURR_MAX[7]=0.0
$CURR_MAX[8]=0.0
$CURR_MAX[9]=0.0
$CURR_MAX[10]=0.0
$CURR_MAX[11]=0.0
$CURR_MAX[12]=0.0
REAL $CURR_CAL[12] ;STROMKALIBRIERUNG POWERMODUL (STROMWANDLER)
$CURR_CAL[1]=1.0
$CURR_CAL[2]=1.0
$CURR_CAL[3]=1.0
$CURR_CAL[4]=1.0
$CURR_CAL[5]=1.0
$CURR_CAL[6]=1.0
$CURR_CAL[7]=1.0
$CURR_CAL[8]=1.0
$CURR_CAL[9]=1.0
$CURR_CAL[10]=1.0
$CURR_CAL[11]=1.0
$CURR_CAL[12]=1.0
INT $CURR_LIM[12] ;STROMSOLLWERT LIMIT ACHSE [I] %
$CURR_LIM[1]=100
$CURR_LIM[2]=100
$CURR_LIM[3]=100
$CURR_LIM[4]=100
$CURR_LIM[5]=100
$CURR_LIM[6]=100
$CURR_LIM[7]=100
$CURR_LIM[8]=100
$CURR_LIM[9]=100
$CURR_LIM[10]=100
$CURR_LIM[11]=100
$CURR_LIM[12]=100
REAL $CURR_MON[12] ;ZULAESSIGER NENNSTROM
$CURR_MON[1]=16.7999992
$CURR_MON[2]=17.5
$CURR_MON[3]=17.5
$CURR_MON[4]=8.0
$CURR_MON[5]=8.0
$CURR_MON[6]=8.0
$CURR_MON[7]=0.0
$CURR_MON[8]=0.0
$CURR_MON[9]=0.0
$CURR_MON[10]=0.0
$CURR_MON[11]=0.0
$CURR_MON[12]=0.0
REAL $KPS_CURR_MAX[8] ;MAXIMALSTROM EINES KPS UEBER 1s
$KPS_CURR_MAX[1]=70.0
$KPS_CURR_MAX[2]=70.0
$KPS_CURR_MAX[3]=70.0
$KPS_CURR_MAX[4]=70.0
$KPS_CURR_MAX[5]=70.0
$KPS_CURR_MAX[6]=70.0
$KPS_CURR_MAX[7]=70.0
$KPS_CURR_MAX[8]=70.0
REAL $KPS_CURR_RATED[8] ;NENNSTROM EINES KPS UEBER 60s
$KPS_CURR_RATED[1]=20.0
$KPS_CURR_RATED[2]=20.0
$KPS_CURR_RATED[3]=20.0
$KPS_CURR_RATED[4]=20.0
$KPS_CURR_RATED[5]=20.0
$KPS_CURR_RATED[6]=20.0
$KPS_CURR_RATED[7]=20.0
$KPS_CURR_RATED[8]=20.0
REAL $CURR_COM_EX[6] ;STROMGRENZE EXTERNER ACHSEN FUER HANDVERFAHREN
$CURR_COM_EX[1]=100.0
$CURR_COM_EX[2]=100.0
$CURR_COM_EX[3]=100.0
$CURR_COM_EX[4]=100.0
$CURR_COM_EX[5]=100.0
$CURR_COM_EX[6]=100.0
REAL $KT_MOT[12] ;KT-FAKTOR DER MOTOREN
$KT_MOT[1]=0.974300027
$KT_MOT[2]=1.36000001
$KT_MOT[3]=1.36000001
$KT_MOT[4]=1.23379004
$KT_MOT[5]=1.23379004
$KT_MOT[6]=1.23379004
$KT_MOT[7]=1.0
$KT_MOT[8]=1.0
$KT_MOT[9]=1.0
$KT_MOT[10]=1.0
$KT_MOT[11]=1.0
$KT_MOT[12]=1.0
REAL $KT0_MOT[12] ;KT0-FAKTOR DER MOTOREN 1-12
$KT0_MOT[1]=1.20000005
$KT0_MOT[2]=1.41999996
$KT0_MOT[3]=1.41999996
$KT0_MOT[4]=1.33000004
$KT0_MOT[5]=1.33000004
$KT0_MOT[6]=1.33000004
$KT0_MOT[7]=1.0
$KT0_MOT[8]=1.0
$KT0_MOT[9]=1.0
$KT0_MOT[10]=1.0
$KT0_MOT[11]=1.0
$KT0_MOT[12]=1.0
REAL $RAISE_TIME[12] ;ACHSHOCHLAUFZEIT ACHSE[I] (I=1:A1,I=7:E1) [MS]
$RAISE_TIME[1]=1058.5
$RAISE_TIME[2]=835.299988
$RAISE_TIME[3]=533.299988
$RAISE_TIME[4]=500.0
$RAISE_TIME[5]=450.0
$RAISE_TIME[6]=768.799988
$RAISE_TIME[7]=0.0
$RAISE_TIME[8]=0.0
$RAISE_TIME[9]=0.0
$RAISE_TIME[10]=0.0
$RAISE_TIME[11]=0.0
$RAISE_TIME[12]=0.0
REAL $RAISE_T_MOT[12] ;MOTORHOCHLAUFZEIT ACHSE[I] (I=1:A1,I=7:E1) [MS]
$RAISE_T_MOT[1]=6.80000019
$RAISE_T_MOT[2]=6.80000019
$RAISE_T_MOT[3]=6.80000019
$RAISE_T_MOT[4]=5.0
$RAISE_T_MOT[5]=5.0
$RAISE_T_MOT[6]=5.0
$RAISE_T_MOT[7]=0.0
$RAISE_T_MOT[8]=0.0
$RAISE_T_MOT[9]=0.0
$RAISE_T_MOT[10]=0.0
$RAISE_T_MOT[11]=0.0
$RAISE_T_MOT[12]=0.0
REAL $VEL_AXIS_MA[12] ;NENNDREHZAHL DES MOTORS ACHSE[I] (I=1:A1,I=7:E1) [U/MIN]
$VEL_AXIS_MA[1]=4300.0
$VEL_AXIS_MA[2]=4000.0
$VEL_AXIS_MA[3]=4000.0
$VEL_AXIS_MA[4]=3300.0
$VEL_AXIS_MA[5]=3400.0
$VEL_AXIS_MA[6]=4100.0
$VEL_AXIS_MA[7]=0.0
$VEL_AXIS_MA[8]=0.0
$VEL_AXIS_MA[9]=0.0
$VEL_AXIS_MA[10]=0.0
$VEL_AXIS_MA[11]=0.0
$VEL_AXIS_MA[12]=0.0
INT $VEL_CPT1_MA[12]
$VEL_CPT1_MA[1]=29
$VEL_CPT1_MA[2]=29
$VEL_CPT1_MA[3]=29
$VEL_CPT1_MA[4]=29
$VEL_CPT1_MA[5]=29
$VEL_CPT1_MA[6]=29
$VEL_CPT1_MA[7]=29
$VEL_CPT1_MA[8]=29
$VEL_CPT1_MA[9]=29
$VEL_CPT1_MA[10]=29
$VEL_CPT1_MA[11]=29
$VEL_CPT1_MA[12]=29
INT $VEL_DSE_MA[12] ;achsweise Ueberwachungsgrenzen der Geschwindigkeit
$VEL_DSE_MA[1]=136
$VEL_DSE_MA[2]=136
$VEL_DSE_MA[3]=136
$VEL_DSE_MA[4]=136
$VEL_DSE_MA[5]=136
$VEL_DSE_MA[6]=136
$VEL_DSE_MA[7]=136
$VEL_DSE_MA[8]=136
$VEL_DSE_MA[9]=136
$VEL_DSE_MA[10]=136
$VEL_DSE_MA[11]=136
$VEL_DSE_MA[12]=136
INT $AXIS_RESO[12] ;AUFLOESUNG DES MESSYSTEMS ACHSE[I] (I=1:A1,I=7:E1) [INKR]
$AXIS_RESO[1]=4096
$AXIS_RESO[2]=4096
$AXIS_RESO[3]=4096
$AXIS_RESO[4]=4096
$AXIS_RESO[5]=4096
$AXIS_RESO[6]=4096
$AXIS_RESO[7]=4096
$AXIS_RESO[8]=4096
$AXIS_RESO[9]=4096
$AXIS_RESO[10]=4096
$AXIS_RESO[11]=4096
$AXIS_RESO[12]=4096
INT $RED_VEL_AXC[12] ;REDUZIERFAKTOR FUER AXIALE GESCHWINDIGKEIT BEI ACHSSPEZ. HANDVERFAHREN UND   KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_VEL_AXC[1]=7
$RED_VEL_AXC[2]=8
$RED_VEL_AXC[3]=8
$RED_VEL_AXC[4]=5
$RED_VEL_AXC[5]=5
$RED_VEL_AXC[6]=5
$RED_VEL_AXC[7]=0
$RED_VEL_AXC[8]=0
$RED_VEL_AXC[9]=0
$RED_VEL_AXC[10]=0
$RED_VEL_AXC[11]=0
$RED_VEL_AXC[12]=0
INT $RED_ACC_AXC[12] ;REDUZIERFAKTOR FUER AXIALE BESCHLEUNIGUNG BEI ACHSSPEZ. HANDVERFAHREN UND  KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_ACC_AXC[1]=15
$RED_ACC_AXC[2]=10
$RED_ACC_AXC[3]=10
$RED_ACC_AXC[4]=10
$RED_ACC_AXC[5]=15
$RED_ACC_AXC[6]=10
$RED_ACC_AXC[7]=0
$RED_ACC_AXC[8]=0
$RED_ACC_AXC[9]=0
$RED_ACC_AXC[10]=0
$RED_ACC_AXC[11]=0
$RED_ACC_AXC[12]=0
INT $RED_ACC_DYN=100
REAL $RED_VEL_CPC=2.0 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSGESCHWINDIGKEIT BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
REAL $RED_ACC_CPC=7.0 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSBESCHLEUNIGUNGEN BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
REAL $VEL_CP_T1=0.100000001 ;BAHNGESCHWINDIGKEIT IN T1 [M/S] MAX: 0.25
REAL $SPEED_LIMIT_TEACH_MODE=0.25 ;REDUZIERUNG DER TCP- UND FLANSCHGESCHWINDIGKEIT IN [M/S] MAX: 0.25
REAL $RED_JUS_UEB=100.0 ;REDUZIERFAKTOR FUER UEBERNAHMEFAHRT [%]
INT $RED_ACC_OV[12] ;AXIALE REDUZIERUNG DER BESCHLEUNIGUNG FUER OVERRIDE ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_ACC_OV[1]=100
$RED_ACC_OV[2]=100
$RED_ACC_OV[3]=100
$RED_ACC_OV[4]=100
$RED_ACC_OV[5]=100
$RED_ACC_OV[6]=100
$RED_ACC_OV[7]=0
$RED_ACC_OV[8]=0
$RED_ACC_OV[9]=0
$RED_ACC_OV[10]=0
$RED_ACC_OV[11]=0
$RED_ACC_OV[12]=0
FRAME $ACC_CAR_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME (ACCORDING TO FLANGE) FOR CARTESIAN ACCELERATION MONITORING
DECL ACC_CAR $ACC_CAR_LIMIT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,ABS 0.0} ;LIMITS FOR THE CARTESIAN ACCELERATION $ACC_CAR_ACT
REAL $RDC2_PHASE_SHIFT_1=0.0 ; Phasenverschiebung der 1. RDW in Grad (-60 - +60)
REAL $RDC2_PHASE_SHIFT_2=0.0 ; Phasenverschiebung der 2. RDW in Grad (-60 - +60)
BOOL $ACC_CAR_STOP=FALSE ;ENABLE (TRUE) OR DISABLE (FALSE) CARTESIAN ACCELERATION MONITORING
INT $RED_ACC_EMX[12] ;REDUZIERFAKTOR FUER BAHNTREUE NOT-AUS-RAMPE [ % ]
$RED_ACC_EMX[1]=120
$RED_ACC_EMX[2]=150
$RED_ACC_EMX[3]=180
$RED_ACC_EMX[4]=250
$RED_ACC_EMX[5]=250
$RED_ACC_EMX[6]=250
$RED_ACC_EMX[7]=100
$RED_ACC_EMX[8]=100
$RED_ACC_EMX[9]=100
$RED_ACC_EMX[10]=100
$RED_ACC_EMX[11]=100
$RED_ACC_EMX[12]=100
BOOL $WARMUP_RED_VEL=FALSE ;WARMFAHR-FUNKTIONALITAET EINGESCHALTET
REAL $WARMUP_TIME=30.0 ;[MIN]
REAL $COOLDOWN_TIME=360.0 ;NACH DIESER ZEIT IM STILLSTAND [MIN] WIRD DER ROBOTER ALS KALT BETRACHTET
INT $WARMUP_CURR_LIMIT=99 ;[%] DES MAXIMAL STROM
INT $WARMUP_MIN_FAC=60 ;[%]
REAL $WARMUP_SLEW_RATE=5.0 ;[%/sec]
REAL $ST_TOL_VEL[12] ;GESCHWINDIGKEITSTOLERANZ FUER STILLSTANDSERKENNUNG ACHSE[I] (I=1:A1,I=7:E1) [U_MOT/MIN]
$ST_TOL_VEL[1]=15.0
$ST_TOL_VEL[2]=15.0
$ST_TOL_VEL[3]=15.0
$ST_TOL_VEL[4]=15.0
$ST_TOL_VEL[5]=15.0
$ST_TOL_VEL[6]=15.0
$ST_TOL_VEL[7]=15.0
$ST_TOL_VEL[8]=15.0
$ST_TOL_VEL[9]=15.0
$ST_TOL_VEL[10]=15.0
$ST_TOL_VEL[11]=15.0
$ST_TOL_VEL[12]=15.0
INT $ST_TOL_TIME=200 ;ERKENNUNGSZEIT [MS]
INT $BOUNCE_TIME=168 ;PRELLZEIT EMT-TASTER [MS]
REAL $VEL_AX_JUS[12] ;GESCHWINDIGKEIT BEI EMT-JUSTAGE ACHSE[I] (I=1:A1,I=7:E1) [GRAD/SEC]
$VEL_AX_JUS[1]=0.0386999995
$VEL_AX_JUS[2]=0.0538000017
$VEL_AX_JUS[3]=0.0559
$VEL_AX_JUS[4]=0.216999993
$VEL_AX_JUS[5]=0.163000003
$VEL_AX_JUS[6]=0.204999998
$VEL_AX_JUS[7]=0.0
$VEL_AX_JUS[8]=0.0
$VEL_AX_JUS[9]=0.0
$VEL_AX_JUS[10]=0.0
$VEL_AX_JUS[11]=0.0
$VEL_AX_JUS[12]=0.0
INT $SEN_DEL[12] ;ZURUECKGELEGTER WEG WAEHREND SIGNALLAUFZEIT IM EMT-TASTER ACHSE[I] (I=1:A1,I=7:E1) [INKR]
$SEN_DEL[1]=0
$SEN_DEL[2]=0
$SEN_DEL[3]=0
$SEN_DEL[4]=0
$SEN_DEL[5]=0
$SEN_DEL[6]=0
$SEN_DEL[7]=0
$SEN_DEL[8]=0
$SEN_DEL[9]=0
$SEN_DEL[10]=0
$SEN_DEL[11]=0
$SEN_DEL[12]=0
REAL $L_EMT_MAX[12] ;LAENGE JUSTAGE-WEG EMT ACHSE[I] (I=1:A1,I=7:E1) [GRAD]
$L_EMT_MAX[1]=1.60000002
$L_EMT_MAX[2]=1.60000002
$L_EMT_MAX[3]=1.60000002
$L_EMT_MAX[4]=8.0
$L_EMT_MAX[5]=8.0
$L_EMT_MAX[6]=6.4000001
$L_EMT_MAX[7]=0.0
$L_EMT_MAX[8]=0.0
$L_EMT_MAX[9]=0.0
$L_EMT_MAX[10]=0.0
$L_EMT_MAX[11]=0.0
$L_EMT_MAX[12]=0.0
REAL $G_VEL_CAL[12] ;GESCHWINDIGKEITS-FAKTOR FUER DREHZAHLREGLERVERSTAERKUNG
$G_VEL_CAL[1]=0.0
$G_VEL_CAL[2]=0.0
$G_VEL_CAL[3]=0.0
$G_VEL_CAL[4]=0.0
$G_VEL_CAL[5]=0.0
$G_VEL_CAL[6]=0.0
$G_VEL_CAL[7]=0.0
$G_VEL_CAL[8]=0.0
$G_VEL_CAL[9]=0.0
$G_VEL_CAL[10]=0.0
$G_VEL_CAL[11]=0.0
$G_VEL_CAL[12]=0.0
REAL $LG_PTP[12] ;KV-FAKTOR PTP ACHSE[I] (I=1:A1,I=7:E1) [1/MS]
$LG_PTP[1]=0.699999988
$LG_PTP[2]=0.720000029
$LG_PTP[3]=0.680000007
$LG_PTP[4]=0.400000006
$LG_PTP[5]=0.400000006
$LG_PTP[6]=0.400000006
$LG_PTP[7]=0.0
$LG_PTP[8]=0.0
$LG_PTP[9]=0.0
$LG_PTP[10]=0.0
$LG_PTP[11]=0.0
$LG_PTP[12]=0.0
REAL $LG_CP[12] ;KV-FAKTOR BAHN-FAHREN [1/MS]
$LG_CP[1]=0.419999987
$LG_CP[2]=0.699999988
$LG_CP[3]=0.419999987
$LG_CP[4]=0.300000012
$LG_CP[5]=0.300000012
$LG_CP[6]=0.300000012
$LG_CP[7]=0.0
$LG_CP[8]=0.0
$LG_CP[9]=0.0
$LG_CP[10]=0.0
$LG_CP[11]=0.0
$LG_CP[12]=0.0
REAL $I_LG_PTP[12] ;INTEGRAL-FAKTOR DES LAGEREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$I_LG_PTP[1]=0.0
$I_LG_PTP[2]=0.0
$I_LG_PTP[3]=0.0
$I_LG_PTP[4]=0.0
$I_LG_PTP[5]=0.0
$I_LG_PTP[6]=0.0
$I_LG_PTP[7]=0.0
$I_LG_PTP[8]=0.0
$I_LG_PTP[9]=0.0
$I_LG_PTP[10]=0.0
$I_LG_PTP[11]=0.0
$I_LG_PTP[12]=0.0
REAL $I_LG_CP[12] ;INTEGRAL-FAKTOR DES LAGEREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$I_LG_CP[1]=0.0
$I_LG_CP[2]=0.0
$I_LG_CP[3]=0.0
$I_LG_CP[4]=0.0
$I_LG_CP[5]=0.0
$I_LG_CP[6]=0.0
$I_LG_CP[7]=0.0
$I_LG_CP[8]=0.0
$I_LG_CP[9]=0.0
$I_LG_CP[10]=0.0
$I_LG_CP[11]=0.0
$I_LG_CP[12]=0.0
REAL $TC_SYM=0.100000001 ;ZEITKONST. SYMMETRIERFILTER
REAL $DECEL_MB[12] ;BREMSRAMPE BEI GENERATOR. STOP [MS]
$DECEL_MB[1]=882.099976
$DECEL_MB[2]=556.900024
$DECEL_MB[3]=296.299988
$DECEL_MB[4]=200.0
$DECEL_MB[5]=180.0
$DECEL_MB[6]=307.5
$DECEL_MB[7]=0.0
$DECEL_MB[8]=0.0
$DECEL_MB[9]=0.0
$DECEL_MB[10]=0.0
$DECEL_MB[11]=0.0
$DECEL_MB[12]=0.0
INT $G_COE_CUR[12] ;P-VERSTAERKUNG DES STROMREGLERS ACHSE[I] (I=1:A1,I=7:E1)
$G_COE_CUR[1]=15
$G_COE_CUR[2]=15
$G_COE_CUR[3]=15
$G_COE_CUR[4]=15
$G_COE_CUR[5]=15
$G_COE_CUR[6]=15
$G_COE_CUR[7]=85
$G_COE_CUR[8]=85
$G_COE_CUR[9]=85
$G_COE_CUR[10]=85
$G_COE_CUR[11]=85
$G_COE_CUR[12]=85
REAL $G_VEL_PTP[12] ;VN-FAKTOR DES DREHZAHLREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$G_VEL_PTP[1]=65.0
$G_VEL_PTP[2]=50.0
$G_VEL_PTP[3]=60.0
$G_VEL_PTP[4]=40.0
$G_VEL_PTP[5]=40.0
$G_VEL_PTP[6]=25.0
$G_VEL_PTP[7]=0.0
$G_VEL_PTP[8]=0.0
$G_VEL_PTP[9]=0.0
$G_VEL_PTP[10]=0.0
$G_VEL_PTP[11]=0.0
$G_VEL_PTP[12]=0.0
REAL $G_VEL_CP[12] ;VN-FAKTOR DES DREHZAHLREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$G_VEL_CP[1]=52.0
$G_VEL_CP[2]=80.0
$G_VEL_CP[3]=32.0
$G_VEL_CP[4]=45.0
$G_VEL_CP[5]=45.0
$G_VEL_CP[6]=30.0
$G_VEL_CP[7]=0.0
$G_VEL_CP[8]=0.0
$G_VEL_CP[9]=0.0
$G_VEL_CP[10]=0.0
$G_VEL_CP[11]=0.0
$G_VEL_CP[12]=0.0
REAL $I_VEL_PTP[12] ;INTEGRAL-FAKTOR DES DREHZAHLREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$I_VEL_PTP[1]=900.0
$I_VEL_PTP[2]=800.0
$I_VEL_PTP[3]=800.0
$I_VEL_PTP[4]=200.0
$I_VEL_PTP[5]=200.0
$I_VEL_PTP[6]=200.0
$I_VEL_PTP[7]=0.0
$I_VEL_PTP[8]=0.0
$I_VEL_PTP[9]=0.0
$I_VEL_PTP[10]=0.0
$I_VEL_PTP[11]=0.0
$I_VEL_PTP[12]=0.0
REAL $I_VEL_CP[12] ;INTEGRAL-FAKTOR DES DREHZAHLREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$I_VEL_CP[1]=575.0
$I_VEL_CP[2]=935.0
$I_VEL_CP[3]=550.0
$I_VEL_CP[4]=100.0
$I_VEL_CP[5]=100.0
$I_VEL_CP[6]=100.0
$I_VEL_CP[7]=0.0
$I_VEL_CP[8]=0.0
$I_VEL_CP[9]=0.0
$I_VEL_CP[10]=0.0
$I_VEL_CP[11]=0.0
$I_VEL_CP[12]=0.0
REAL $VEL_FILT[12] ;TACHO FILTER ACHSE [I] [MS]; VARIABLE HAT AB V5 MIT DSE_C33 KEINEN EINFLUSS!
$VEL_FILT[1]=2.5
$VEL_FILT[2]=2.5
$VEL_FILT[3]=2.5
$VEL_FILT[4]=2.5
$VEL_FILT[5]=2.5
$VEL_FILT[6]=2.5
$VEL_FILT[7]=2.5
$VEL_FILT[8]=2.5
$VEL_FILT[9]=2.5
$VEL_FILT[10]=2.5
$VEL_FILT[11]=2.5
$VEL_FILT[12]=2.5
INT $TM_CON_VEL=0 ;MINIMALE KONSTANTFAHRPHASE [MS]
REAL $APO_DIS_PTP[12] ;MAXIMALER UEBERSCHLEIFWEG PTP ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$APO_DIS_PTP[1]=90.0
$APO_DIS_PTP[2]=90.0
$APO_DIS_PTP[3]=90.0
$APO_DIS_PTP[4]=90.0
$APO_DIS_PTP[5]=90.0
$APO_DIS_PTP[6]=90.0
$APO_DIS_PTP[7]=0.0
$APO_DIS_PTP[8]=0.0
$APO_DIS_PTP[9]=0.0
$APO_DIS_PTP[10]=0.0
$APO_DIS_PTP[11]=0.0
$APO_DIS_PTP[12]=0.0
DECL CP $ACC_MA={CP 10.0,ORI1 1000.0,ORI2 1000.0} ;CP = MAX. BAHNBESCHLEUNIGUNG [M/SEC2], ORI1 = MAX. SCHWENKBESCHLEUNIGUNG     [GRAD/SEC2], ORI2 = MAX. DREHBESCHLEUNIGUNG [GRAD/SEC2]
DECL JERK_STRUC $JERK_MA={CP 500.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4 1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4 1000.0,E5 1000.0,E6 1000.0}} ;Maximaler Ruck CP: [m/s^3], ORI: [deg/^3], AX: [deg/s^3] (rotatorisch) bzw. [m/s^3] (linear)
DECL CP $VEL_MA={CP 3.0,ORI1 400.0,ORI2 400.0} ;CP = MAX. BAHNGESCHWINDIGKEIT [M/SEC], ORI1 = MAX. SCHWENKGESCHWINDIGKEIT    [GRAD/SEC], ORI2 = MAX. DREHGESCHWINDIGKEIT [GRAD/SEC]
DECL CP $ACC_OV={CP 4.5999999,ORI1 200.0,ORI2 200.0} ;CP = BAHNBESCHL. BEI OV.-AEND. [M/SEC2], ORI1 = SCHWENKBESCHL. BEI OV.-AEND.  [GRAD/SEC2], ORI2 = DREHBESCHL. BEI OV.-AEND. [GRAD/SEC2]
INT $RED_T1=7 ;REDUKTIONSFAKTOR T1 [%] MAX: 15%
INT $DEF_FLT_PTP=228 ;DEFAULTFILTER PTP
INT $DEF_FLT_CP=180 ;DEFAULTFILTER CP
INT $DEF_OV_JOG=10 ;VORBESETZUNG FUER OVERRIDE
DECL SW_ONOFF $ANA_DEL_FLT=#OFF ;LR_VERZ. IN ANAOUT DELAY
INT $SEQ_CAL[12] ;REFERIER-REIHENFOLGE DER ACHSEN SCHRITT[I]
$SEQ_CAL[1]='B0001'
$SEQ_CAL[2]='B0010'
$SEQ_CAL[3]='B0100'
$SEQ_CAL[4]='B1000'
$SEQ_CAL[5]='B00010000'
$SEQ_CAL[6]='B00100000'
$SEQ_CAL[7]='B01000000'
$SEQ_CAL[8]='B10000000'
$SEQ_CAL[9]='B000100000000'
$SEQ_CAL[10]='B001000000000'
$SEQ_CAL[11]='B010000000000'
$SEQ_CAL[12]='B100000000000'
INT $DIR_CAL='B000111111111' ;REFERIER-RICHTUNG
INT $RED_CAL_SD=5 ;REDUKTIONSFAKTOR NACH ERREICHEN DES NOCKENS [%]
INT $RED_CAL_SF=20 ;REDUKTIONSFAKTOR VOR ERREICHEN DES NOCKENS [%]
INT $BRK_MODE='B0101' ;BREMSENSTEUERUNGS-MODUS
INT $BRK_OPENTM=56 ;BREMSOEFFNUNGSZEIT [MS]
INT $BRK_DEL_COM=10000 ;BREMSVERZOEGERUNGSZEIT  KOMMANDO-MODUS [MS]
INT $BRK_DEL_PRO=20000 ;BREMSVERZOEGERUNGSZEIT IM PROGRAMM [MS]
INT $BRK_DEL_EX=200 ;BREMSVERZOEGERUNGSZEIT FUER ZUSATZACHSEN
INT $SERV_OFF_TM[12] ;REGLERSPERRZEIT ACHSE[I] (I=1:A1,I=7:E1)
$SERV_OFF_TM[1]=84
$SERV_OFF_TM[2]=84
$SERV_OFF_TM[3]=84
$SERV_OFF_TM[4]=84
$SERV_OFF_TM[5]=84
$SERV_OFF_TM[6]=84
$SERV_OFF_TM[7]=84
$SERV_OFF_TM[8]=84
$SERV_OFF_TM[9]=84
$SERV_OFF_TM[10]=84
$SERV_OFF_TM[11]=84
$SERV_OFF_TM[12]=84
INT $MS_DA[12] ;INAKTIVE LAGEREGELUEBERWACHUNG ACHSE[I] (I=1:A1,I=7:E1)
$MS_DA[1]='B0000'
$MS_DA[2]='B0000'
$MS_DA[3]='B0000'
$MS_DA[4]='B0000'
$MS_DA[5]='B0000'
$MS_DA[6]='B0000'
$MS_DA[7]='B0000'
$MS_DA[8]='B0000'
$MS_DA[9]='B0000'
$MS_DA[10]='B0000'
$MS_DA[11]='B0000'
$MS_DA[12]='B0000'
INT $FFC_VEL='B111111111111' ;GESCHWINDIKEITSVORSTEURUNG EIN/AUS
BOOL $FFC_TORQ=TRUE ;MOMENTENVORSTEUERUNG EIN/AUS
INT $FFC_TORQ_AXIS='B00111111' ;MOMENTENVORSTEUERUNG ACHSWEISE
BOOL $GEARTORQ_MON=TRUE ;GETRIEBEMOMENTENUEBERWACHUNG EIN/AUS
INT $SERVOMODE[12] ;STEUERUNGSFUNKTIONALITAETEN
$SERVOMODE[1]='B0000'
$SERVOMODE[2]='B0000'
$SERVOMODE[3]='B0000'
$SERVOMODE[4]='B0000'
$SERVOMODE[5]='B0000'
$SERVOMODE[6]='B0000'
$SERVOMODE[7]='B0000'
$SERVOMODE[8]='B0000'
$SERVOMODE[9]='B0000'
$SERVOMODE[10]='B0000'
$SERVOMODE[11]='B0000'
$SERVOMODE[12]='B0000'
INT $ACC_ACT_MA=250 ;GRENZWERT SOLLBESCHLEUNIGUNG [%]
INT $VEL_ACT_MA=110 ;GRENZWERT SOLLGESCHWINDIGKEIT [%]
INT $ILLEGAL_SPEED=200 ; GRENZWERT GESCHWINDIGKEIT VOR FILTER [%]
BOOL $MONITOR_ILLEGAL_SPEED=TRUE ; GESCHWINDIGKEITSUEBERWACHUNG VOR FILTER
REAL $IN_POS_CAR=0.100000001 ;KARTESISCHES POSITIONIERFENSTER (TRANSLATIONSSTEIL) [MM]
REAL $IN_POS_ORI=0.100000001 ;KARTESISCHES POSITIONIERFENSTER (ORIENTIERUNGSTEIL) [DEG]
REAL $IN_POS_MA[12] ;POSITIONIERFENSTER ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$IN_POS_MA[1]=0.100000001
$IN_POS_MA[2]=0.100000001
$IN_POS_MA[3]=0.100000001
$IN_POS_MA[4]=0.100000001
$IN_POS_MA[5]=0.100000001
$IN_POS_MA[6]=0.100000001
$IN_POS_MA[7]=0.0
$IN_POS_MA[8]=0.0
$IN_POS_MA[9]=0.0
$IN_POS_MA[10]=0.0
$IN_POS_MA[11]=0.0
$IN_POS_MA[12]=0.0
INT $TIME_POS[12] ;POSITIONIERZEIT ACHSE[I] (I=1:A1,I=7:E1)
$TIME_POS[1]=512
$TIME_POS[2]=512
$TIME_POS[3]=512
$TIME_POS[4]=512
$TIME_POS[5]=512
$TIME_POS[6]=512
$TIME_POS[7]=512
$TIME_POS[8]=512
$TIME_POS[9]=512
$TIME_POS[10]=512
$TIME_POS[11]=512
$TIME_POS[12]=512
INT $IN_STILL_MA=4 ;FAKTOR FUER STILLSTANDSFENSTER
REAL $FOL_ERR_MA[12] ;FAKTOR FUER SCHLEPPFEHLERUEBERWACHUNG
$FOL_ERR_MA[1]=20.0
$FOL_ERR_MA[2]=20.0
$FOL_ERR_MA[3]=20.0
$FOL_ERR_MA[4]=20.0
$FOL_ERR_MA[5]=20.0
$FOL_ERR_MA[6]=20.0
$FOL_ERR_MA[7]=20.0
$FOL_ERR_MA[8]=20.0
$FOL_ERR_MA[9]=20.0
$FOL_ERR_MA[10]=20.0
$FOL_ERR_MA[11]=20.0
$FOL_ERR_MA[12]=20.0
INT $VEL_ENC_CO=50
REAL $COM_VAL_MI[12] ;SOLLDREHZAHLBEGRENZUNG ACHSE[I] (I=1:A1,I=7:E1) [%]
$COM_VAL_MI[1]=150.0
$COM_VAL_MI[2]=150.0
$COM_VAL_MI[3]=150.0
$COM_VAL_MI[4]=150.0
$COM_VAL_MI[5]=150.0
$COM_VAL_MI[6]=150.0
$COM_VAL_MI[7]=150.0
$COM_VAL_MI[8]=150.0
$COM_VAL_MI[9]=150.0
$COM_VAL_MI[10]=150.0
$COM_VAL_MI[11]=150.0
$COM_VAL_MI[12]=150.0
INT $TL_COM_VAL=50
INT $TOUCH_VEL=50 ;MAXIMALE RUECKZUGSGESCHW. F. TOUCHSENSOR IN %
INT $TOUCH_ACC=50 ;RUECKZUGSBESCHL. F. TOUCHSENSOR IN %
INT $TOUCH_SVEL=0 ;STARTGESCHW. BEIM TOUCH IN % DER SUCHGESCHW.
REAL $SOFTN_END[12] ;SOFTWARE-ENDSCHALTER NEGATIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$SOFTN_END[1]=-185.0
$SOFTN_END[2]=-142.0
$SOFTN_END[3]=-120.0
$SOFTN_END[4]=-350.0
$SOFTN_END[5]=-120.0
$SOFTN_END[6]=-350.0
$SOFTN_END[7]=0.0
$SOFTN_END[8]=0.0
$SOFTN_END[9]=0.0
$SOFTN_END[10]=0.0
$SOFTN_END[11]=0.0
$SOFTN_END[12]=0.0
REAL $SOFTP_END[12] ;SOFTWARE-ENDSCHALTER POSITIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$SOFTP_END[1]=185.0
$SOFTP_END[2]=0.0
$SOFTP_END[3]=148.0
$SOFTP_END[4]=350.0
$SOFTP_END[5]=120.0
$SOFTP_END[6]=350.0
$SOFTP_END[7]=0.0
$SOFTP_END[8]=0.0
$SOFTP_END[9]=0.0
$SOFTP_END[10]=0.0
$SOFTP_END[11]=0.0
$SOFTP_END[12]=0.0
DECL AXBOX $AXWORKSPACE[8] ;ACHSSPEZ. ARBEITSRAEUME
$AXWORKSPACE[1]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[2]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[3]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[4]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[5]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[6]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[7]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[8]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
CHAR $AXWORKSPACE_NAME1[24]
$AXWORKSPACE_NAME1[]="AXWORKSPACE_NAME 1"
CHAR $AXWORKSPACE_NAME2[24]
$AXWORKSPACE_NAME2[]="AXWORKSPACE_NAME 2"
CHAR $AXWORKSPACE_NAME3[24]
$AXWORKSPACE_NAME3[]="AXWORKSPACE_NAME 3"
CHAR $AXWORKSPACE_NAME4[24]
$AXWORKSPACE_NAME4[]="AXWORKSPACE_NAME 4"
CHAR $AXWORKSPACE_NAME5[24]
$AXWORKSPACE_NAME5[]="AXWORKSPACE_NAME 5"
CHAR $AXWORKSPACE_NAME6[24]
$AXWORKSPACE_NAME6[]="AXWORKSPACE_NAME 6"
CHAR $AXWORKSPACE_NAME7[24]
$AXWORKSPACE_NAME7[]="AXWORKSPACE_NAME 7"
CHAR $AXWORKSPACE_NAME8[24]
$AXWORKSPACE_NAME8[]="AXWORKSPACE_NAME 8"
INT $BRK_MAX_TM=1000 ;MAX. BREMSZEIT [MS]
INT $EMSTOP_TIME=100 ;ZEITUEBERWACHUNG FUER NOT_STOP [MS]
INT $ACT_VAL_DIF=6 ;GEBERISTWERTDIFFERENZ [INKR]
CHAR $TRAFONAME[32] ;NAME DER KOORDINATENTRANSFORMATION
$TRAFONAME[]="#KR200L170_CPT S C2 FLR ZH04" ;MAXIMAL 32 ZEICHEN
DECL KINCLASS $KINCLASS=#STANDARD ;KINEMATIKKLASSEN (STANDARD,SPECIAL,TEST,NONE)
INT $AX_SIM_ON='B0000' ;ACHSSIMULATION
INT $SIMULATED_AXIS='B0000' ;Simulation von Roboterachsen
INT $ACTIVE_AXIS_MASK='B00111111' ;Aktive Verfahrtasten, achsspez.
INT $ACTIVE_KAR_MASK='B00111111' ;Aktive Verfahrtasten, kartesisch
INT $TRAFO_AXIS=6 ;ANZAHL DER TRANSFORMIERTEN ACHSEN
DECL MAIN_AXIS $MAIN_AXIS=#NR ;GRUNDACHSENKENNUNG (SS = PORTAL, CC = SCARA, NR = GELENKROBOTER)
DECL WRIST_AXIS $WRIST_AXIS=#ZEH ;HANDACHSENKENNUNG (NOH = KEINE HAND, ZEH = ZENTRALHAND, SRH = SCHRAEGHAND    DSH = DOPPELSCHRAEGHAND, WIH = WINKELHAND, WSH = WINKELSCHRAEGHAND
INT $A4PAR=0 ;0=ACHSE 4 NICHT PARALLEL, 1=ACHSE 4 PARALLEL ZUR LETZEN ROTATORISCHEN GRUNDACHSE, 2=SONDERKINEMATIK: ACHSE 4 IMMER PARALLEL ZUR Z-IRO ACHSE
BOOL $DEF_A4FIX=FALSE ;ACHSE 4 FIXIERT
BOOL $DEF_A5LINK=FALSE ;4-ACHS-PALETTIERER ( A4=0 GRAD; A5 WIRD UEBER PARALLELOGRAMM GEFUEHRT )
INT $SPINDLE=0 ;SPINDELN (0 = NEIN, 1 = JA)
INT $AXIS_SEQ[6] ;UMORDNUNG VON ACHSE[I] (I=1:A1,I=7:E1)
$AXIS_SEQ[1]=1
$AXIS_SEQ[2]=2
$AXIS_SEQ[3]=3
$AXIS_SEQ[4]=4
$AXIS_SEQ[5]=5
$AXIS_SEQ[6]=6
INT $AXIS_DIR[12] ;DREHRICHTUNG DER ACHSE[I] (I=1:A1,I=7:E1)
$AXIS_DIR[1]=-1
$AXIS_DIR[2]=1
$AXIS_DIR[3]=1
$AXIS_DIR[4]=-1
$AXIS_DIR[5]=-1
$AXIS_DIR[6]=-1
$AXIS_DIR[7]=1
$AXIS_DIR[8]=1
$AXIS_DIR[9]=1
$AXIS_DIR[10]=1
$AXIS_DIR[11]=1
$AXIS_DIR[12]=1
REAL $INC_AXIS[6] ;SCHRITTMASS ACHSSPEZIFISCH
$INC_AXIS[1]=10.0
$INC_AXIS[2]=10.0
$INC_AXIS[3]=10.0
$INC_AXIS[4]=10.0
$INC_AXIS[5]=10.0
$INC_AXIS[6]=10.0
REAL $INC_EXTAX[6] ;SCHRITTMASS ACHSSPEZIFISCH EXTERNE ACHSEN
$INC_EXTAX[1]=10.0
$INC_EXTAX[2]=10.0
$INC_EXTAX[3]=10.0
$INC_EXTAX[4]=10.0
$INC_EXTAX[5]=10.0
$INC_EXTAX[6]=10.0
REAL $INC_CAR[6] ;SCHRITTMASS KARTESISCH WERKZEUGBEZOGEN
$INC_CAR[1]=100.0
$INC_CAR[2]=100.0
$INC_CAR[3]=100.0
$INC_CAR[4]=10.0
$INC_CAR[5]=10.0
$INC_CAR[6]=10.0
INT $POS_SWB[3] ;S-SCHALTBAR
$POS_SWB[1]=0 ;S-SCHALTBAR; UEBERKOPF (O = NEIN, 1 = JA)
$POS_SWB[2]=0 ;S-SCHALTBAR; ACHSE 2-3 (0 = NEIN, 1 = JA)
$POS_SWB[3]=0 ;S-SCHALTBAR; ACHSE 5 (0 = NEIN, 1 = JA)
INT $SINGUL_POS[3] ;BEHANDLUNG UNDEFINIERTER GELENKSTELLUNGEN BEI VORGABE EINES SINGULAEREN      PTP-PUNKTES
$SINGUL_POS[1]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
$SINGUL_POS[2]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
$SINGUL_POS[3]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
REAL $DIS_WRP1=1410.0 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 1
REAL $DIS_WRP2=0.0 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 2
INT $ORI_CHECK=0 ;ORIENTIERUNGSPRUEFUNG AN CP-ENDPUNKTEN (NUR BEIM 5 ACHSER)
FRAME $TIRORO={X 0.0,Y 0.0,Z 750.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN INTERNEN ROBOTERKOORDINATENSYSTEM UND ROBOTERKOORDINATENSYSTEM
FRAME $TFLWP={X 0.0,Y 0.0,Z 210.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN FLANSCH- UND HANDPUNKTKOORDINATENSYSTEM
FRAME $TX3P3={X 1200.0,Y 0.0,Z -45.0,A 0.0,B 90.0,C 0.0} ;ANBRINGUNG DER ROBOTERHAND
REAL $LENGTH_A=350.0 ;GRUNDACHSLAENGE A
REAL $LENGTH_B=1050.0 ;GRUNDACHSLAENGE B
DECL DHART $DH_4={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA 90.0} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
DECL DHART $DH_5={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA -90.0} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
DECL SPIN $SPIN_A={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0} ;AXIS = ACHSE,AUF DIE DIE SPINDEL WIRKT, RAD_G = RADIUS G, RAD_H = RADIUS H   SG = VORZEICHEN, BETA = WINKELVERSATZ
DECL SPIN $SPIN_B={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
DECL SPIN $SPIN_C={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
DECL TRPSPIN $TRP_A={TRPSP_AXIS 0,TRPSP_COP_AX 0,TRPSP_A 0.0,TRPSP_B 0.0,TRPSP_C 0.0,TRPSP_D 0.0} ;AXIS = UEBER TRAPEZ ANGETRIEBENE ACHSE, COP_AXIS = KOPPELNDE ACHSE, A = TRAPEZLAENGE A, B= TRAPEZLAENGE B, C = TRAPEZLAENGE C, D = TRAPEZLAENGE D
REAL $SPC_KIN[30] ;SONDERKINEMATIKEN
$SPC_KIN[1]=0.0 ;A-PARAMETER FUER GRENZEBACHKINEMATIK
$SPC_KIN[2]=0.0 ;D-PARAMETER FUER GRENZEBACHKINEMATIK
$SPC_KIN[3]=0.0
$SPC_KIN[4]=0.0
$SPC_KIN[5]=0.0
$SPC_KIN[6]=0.0
$SPC_KIN[7]=0.0
$SPC_KIN[8]=0.0
$SPC_KIN[9]=0.0
$SPC_KIN[10]=0.0
$SPC_KIN[11]=0.0
$SPC_KIN[12]=0.0
$SPC_KIN[13]=0.0
$SPC_KIN[14]=0.0
$SPC_KIN[15]=0.0
$SPC_KIN[16]=0.0
$SPC_KIN[17]=0.0
$SPC_KIN[18]=0.0
$SPC_KIN[19]=0.0
$SPC_KIN[20]=0.0
$SPC_KIN[21]=0.0
$SPC_KIN[22]=0.0
$SPC_KIN[23]=0.0
$SPC_KIN[24]=0.0
$SPC_KIN[25]=0.0
$SPC_KIN[26]=0.0
$SPC_KIN[27]=0.0
$SPC_KIN[28]=0.0
$SPC_KIN[29]=0.0
$SPC_KIN[30]=0.0
INT $EX_AX_NUM=0 ;ANZAHL EXTERNER ACHSEN (0-6)
INT $EX_AX_ASYNC='B0000' ;EXTERNE ACHSEN ASYNCHRON
INT $ASYNC_T1_FAST='B0000' ;GESCHW.-RED. DEAKTIVIERT ( T1 )
INT $ASYNC_EX_AX_DECOUPLE='B0000' ;BITFELD FUER ABGEKOPPELTE ZUSATZACHSEN
DECL EX_KIN $EX_KIN={ET1 #NONE,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
DECL ET_AX $ET1_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET1_NAME[20] ;NAME DER TRANSFORMATION ET1 MAXIMAL 20 ZEICHEN
$ET1_NAME[]=" "
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET2_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET2_NAME[20] ;NAME DER TRANSFORMATION ET2 MAX. 20 ZEICHEN
$ET2_NAME[]=" "
FRAME $ET2_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
FRAME $ET2_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET2_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET2_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET2_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET3_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET3_NAME[20] ;NAME DER TRANSFORMATION ET3 MAX. 20 ZEICHEN
$ET3_NAME[]=" "
FRAME $ET3_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET3
FRAME $ET3_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET3_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET3_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET3_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET4_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET4_NAME[20] ;NAME DER TRANSFORMATION ET4 MAX. 20 ZEICHEN
$ET4_NAME[]=" "
FRAME $ET4_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET4
FRAME $ET4_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET4_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET4_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET4_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET5_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET5_NAME[20] ;NAME DER TRANSFORMATION ET5 MAX. 20 ZEICHEN
$ET5_NAME[]=" "
FRAME $ET5_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET5
FRAME $ET5_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET5_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET5_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET5_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET6_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET6_NAME[20] ;NAME DER TRANSFORMATION ET6 MAX. 20 ZEICHEN
$ET6_NAME[]=" "
FRAME $ET6_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET6
FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
E6AXIS $H_POS={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $AXIS_HOME[5]
$AXIS_HOME[1]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[2]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[3]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[4]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[5]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $H_POS_TOL={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
E6AXIS $H_AXIS_TOL[5] ;TOLERANZFENSTER FUER ERREICHEN DER HOME-STELLUNG $AXIS_HOME[.]
$H_AXIS_TOL[1]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[2]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[3]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[4]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[5]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
BOOL $CABLE2_MON=FALSE ;ANGABE, OB DER ANSCHLUSS DES ZWEITEN MOTORKABELS UEBERPRUEFT WERDEN SOLL (TRUE BEI SONDERMASCHINEN).
DECL REAL $ASR_ERROR[12] ;SCHLUPFGRENZE IN %
$ASR_ERROR[1]=0.0
$ASR_ERROR[2]=0.0
$ASR_ERROR[3]=0.0
$ASR_ERROR[4]=0.0
$ASR_ERROR[5]=0.0
$ASR_ERROR[6]=0.0
$ASR_ERROR[7]=0.0
$ASR_ERROR[8]=0.0
$ASR_ERROR[9]=0.0
$ASR_ERROR[10]=0.0
$ASR_ERROR[11]=0.0
$ASR_ERROR[12]=0.0
DECL FRA $RAT_EXT_ENC[12] ;UEBERSETZUNG SENSORRAD-SENSOR
$RAT_EXT_ENC[1]={N 0,D 1}
$RAT_EXT_ENC[2]={N 0,D 1}
$RAT_EXT_ENC[3]={N 0,D 1}
$RAT_EXT_ENC[4]={N 0,D 1}
$RAT_EXT_ENC[5]={N 0,D 1}
$RAT_EXT_ENC[6]={N 0,D 1}
$RAT_EXT_ENC[7]={N 0,D 1}
$RAT_EXT_ENC[8]={N 0,D 1}
$RAT_EXT_ENC[9]={N 0,D 1}
$RAT_EXT_ENC[10]={N 0,D 1}
$RAT_EXT_ENC[11]={N 0,D 1}
$RAT_EXT_ENC[12]={N 0,D 1}
INT $AX_ENERGY_MAX[12] ;MAX. KINETISCHE ENERGIE DER ACHSE [J]
$AX_ENERGY_MAX[1]=3888
$AX_ENERGY_MAX[2]=4529
$AX_ENERGY_MAX[3]=1692
$AX_ENERGY_MAX[4]=517
$AX_ENERGY_MAX[5]=634
$AX_ENERGY_MAX[6]=890
$AX_ENERGY_MAX[7]=3005
$AX_ENERGY_MAX[8]=3680
$AX_ENERGY_MAX[9]=3680
$AX_ENERGY_MAX[10]=3680
$AX_ENERGY_MAX[11]=3680
$AX_ENERGY_MAX[12]=3680
INT $BRK_ENERGY_MAX[12] ;MAX. ZULAESSIGE BREMSENERGIE [J]
$BRK_ENERGY_MAX[1]=6855
$BRK_ENERGY_MAX[2]=7558
$BRK_ENERGY_MAX[3]=7558
$BRK_ENERGY_MAX[4]=1850
$BRK_ENERGY_MAX[5]=1850
$BRK_ENERGY_MAX[6]=1850
$BRK_ENERGY_MAX[7]=4600
$BRK_ENERGY_MAX[8]=4600
$BRK_ENERGY_MAX[9]=4600
$BRK_ENERGY_MAX[10]=4600
$BRK_ENERGY_MAX[11]=4600
$BRK_ENERGY_MAX[12]=4600
REAL $BRK_COOL_OFF_COEFF[12] ;ABKUEHLFAKTOR DER BREMSE [J/S]
$BRK_COOL_OFF_COEFF[1]=38.0
$BRK_COOL_OFF_COEFF[2]=42.0
$BRK_COOL_OFF_COEFF[3]=42.0
$BRK_COOL_OFF_COEFF[4]=30.7999992
$BRK_COOL_OFF_COEFF[5]=30.7999992
$BRK_COOL_OFF_COEFF[6]=30.7999992
$BRK_COOL_OFF_COEFF[7]=25.5
$BRK_COOL_OFF_COEFF[8]=9.19999981
$BRK_COOL_OFF_COEFF[9]=9.19999981
$BRK_COOL_OFF_COEFF[10]=9.19999981
$BRK_COOL_OFF_COEFF[11]=9.19999981
$BRK_COOL_OFF_COEFF[12]=9.19999981
REAL $BRK_TORQUE[12] ;DYNAMISCHES BREMSMOMENT [NM]
$BRK_TORQUE[1]=21.0
$BRK_TORQUE[2]=33.0
$BRK_TORQUE[3]=33.0
$BRK_TORQUE[4]=20.0
$BRK_TORQUE[5]=20.0
$BRK_TORQUE[6]=20.0
$BRK_TORQUE[7]=20.0
$BRK_TORQUE[8]=20.0
$BRK_TORQUE[9]=20.0
$BRK_TORQUE[10]=20.0
$BRK_TORQUE[11]=20.0
$BRK_TORQUE[12]=20.0
DECL REAL $SR_BRK_POLY[8,7] ;KURZSCHLUSSBREMSTABELLE
$SR_BRK_POLY[1,1]=0.0
$SR_BRK_POLY[1,2]=0.0
$SR_BRK_POLY[1,3]=0.0
$SR_BRK_POLY[1,4]=0.0
$SR_BRK_POLY[1,5]=0.0
$SR_BRK_POLY[1,6]=0.0
$SR_BRK_POLY[1,7]=0.0
$SR_BRK_POLY[2,1]=0.0
$SR_BRK_POLY[2,2]=0.0
$SR_BRK_POLY[2,3]=0.0
$SR_BRK_POLY[2,4]=0.0
$SR_BRK_POLY[2,5]=0.0
$SR_BRK_POLY[2,6]=0.0
$SR_BRK_POLY[2,7]=0.0
$SR_BRK_POLY[3,1]=0.0
$SR_BRK_POLY[3,2]=0.0
$SR_BRK_POLY[3,3]=0.0
$SR_BRK_POLY[3,4]=0.0
$SR_BRK_POLY[3,5]=0.0
$SR_BRK_POLY[3,6]=0.0
$SR_BRK_POLY[3,7]=0.0
$SR_BRK_POLY[4,1]=0.0
$SR_BRK_POLY[4,2]=0.0
$SR_BRK_POLY[4,3]=0.0
$SR_BRK_POLY[4,4]=0.0
$SR_BRK_POLY[4,5]=0.0
$SR_BRK_POLY[4,6]=0.0
$SR_BRK_POLY[4,7]=0.0
$SR_BRK_POLY[5,1]=0.0
$SR_BRK_POLY[5,2]=0.0
$SR_BRK_POLY[5,3]=0.0
$SR_BRK_POLY[5,4]=0.0
$SR_BRK_POLY[5,5]=0.0
$SR_BRK_POLY[5,6]=0.0
$SR_BRK_POLY[5,7]=0.0
$SR_BRK_POLY[6,1]=0.0
$SR_BRK_POLY[6,2]=0.0
$SR_BRK_POLY[6,3]=0.0
$SR_BRK_POLY[6,4]=0.0
$SR_BRK_POLY[6,5]=0.0
$SR_BRK_POLY[6,6]=0.0
$SR_BRK_POLY[6,7]=0.0
$SR_BRK_POLY[7,1]=0.0
$SR_BRK_POLY[7,2]=0.0
$SR_BRK_POLY[7,3]=0.0
$SR_BRK_POLY[7,4]=0.0
$SR_BRK_POLY[7,5]=0.0
$SR_BRK_POLY[7,6]=0.0
$SR_BRK_POLY[7,7]=0.0
$SR_BRK_POLY[8,1]=0.0
$SR_BRK_POLY[8,2]=0.0
$SR_BRK_POLY[8,3]=0.0
$SR_BRK_POLY[8,4]=0.0
$SR_BRK_POLY[8,5]=0.0
$SR_BRK_POLY[8,6]=0.0
$SR_BRK_POLY[8,7]=0.0
DECL REAL $SR_CART_BRK_POLY[8,2] ; POLYGONZUG DER MAXIMALEN KARTESISCHEN BREMSWEGE
$SR_CART_BRK_POLY[1,1]=0.0
$SR_CART_BRK_POLY[1,2]=0.0
$SR_CART_BRK_POLY[2,1]=0.0
$SR_CART_BRK_POLY[2,2]=0.0
$SR_CART_BRK_POLY[3,1]=0.0
$SR_CART_BRK_POLY[3,2]=0.0
$SR_CART_BRK_POLY[4,1]=0.0
$SR_CART_BRK_POLY[4,2]=0.0
$SR_CART_BRK_POLY[5,1]=0.0
$SR_CART_BRK_POLY[5,2]=0.0
$SR_CART_BRK_POLY[6,1]=0.0
$SR_CART_BRK_POLY[6,2]=0.0
$SR_CART_BRK_POLY[7,1]=0.0
$SR_CART_BRK_POLY[7,2]=0.0
$SR_CART_BRK_POLY[8,1]=0.0
$SR_CART_BRK_POLY[8,2]=0.0
DECL MAXTOOL $SR_MAX_TOOL={LOAD_CM_R 0.0,LOAD_CM_Z 0.0,LOAD_M 0.0,LOAD_J 0.0,TOOL_R 0.0,TOOL_Z 0.0} ; TOOLGRENZEN FUER GUELTIGKEIT VON $SR_CART_BRK_POLY
DECL REAL $SR_TIME_D=0.0 ;REAKTIONSZEIT DSE-DREHZAHLSTOPP
DECL REAL $SR_TIME_N=0.100000001 ;Sicherheitsfaktor Overrideregelung SafeRobot
REAL $AXIS_JERK[12] ; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=7379.0
$AXIS_JERK[2]=8939.2998
$AXIS_JERK[3]=13490.7998
$AXIS_JERK[4]=20626.5
$AXIS_JERK[5]=23391.8008
$AXIS_JERK[6]=22254.6992
$AXIS_JERK[7]=1.00000002E+20
$AXIS_JERK[8]=1.00000002E+20
$AXIS_JERK[9]=1.00000002E+20
$AXIS_JERK[10]=1.00000002E+20
$AXIS_JERK[11]=1.00000002E+20
$AXIS_JERK[12]=1.00000002E+20
ENDDAT

My modified (with external axis configurator) machine.dat:
Code: [Select]
&PARAM VERSION = 3.8.3
&REL 12
DEFDAT  $MACHINE PUBLIC
CHAR $V_R1MADA[32]
$V_R1MADA[]="V3.8.3/KUKA5.6" ;VERSIONSKENNUNG
INT $TECH_MAX=6 ;MAX. ANZAHL FUNKTIONSGENERATOREN
INT $NUM_AX=6 ;ACHSEN DES ROBOTERSYSTEMS
INT $AXIS_TYPE[12] ;ACHSENKENNUNG
$AXIS_TYPE[1]=3 ;1 = LINEAR, 2 = SPINDEL, 3 = ROTATORISCH, 4 = ENDLICH DREHEND, 5 = ENDLOS
$AXIS_TYPE[2]=3
$AXIS_TYPE[3]=3
$AXIS_TYPE[4]=3
$AXIS_TYPE[5]=3
$AXIS_TYPE[6]=3
$AXIS_TYPE[7]=3
$AXIS_TYPE[8]=3
$AXIS_TYPE[9]=3
$AXIS_TYPE[10]=3
$AXIS_TYPE[11]=3
$AXIS_TYPE[12]=3
DECL FRA $COUP_COMP[6,6] ;ACHSKOPPLUNGSFAKTOR N = ZAEHLER, D = NENNER
$COUP_COMP[1,2]={N 0,D 1}
$COUP_COMP[1,3]={N 0,D 1}
$COUP_COMP[1,4]={N 0,D 1}
$COUP_COMP[1,5]={N 0,D 1}
$COUP_COMP[1,6]={N 0,D 1}
$COUP_COMP[2,1]={N 0,D 1}
$COUP_COMP[2,3]={N 0,D 1}
$COUP_COMP[2,4]={N 0,D 1}
$COUP_COMP[2,5]={N 0,D 1}
$COUP_COMP[2,6]={N 0,D 1}
$COUP_COMP[3,1]={N 0,D 1}
$COUP_COMP[3,2]={N 0,D 1}
$COUP_COMP[3,4]={N 0,D 1}
$COUP_COMP[3,5]={N 0,D 1}
$COUP_COMP[3,6]={N 0,D 1}
$COUP_COMP[4,1]={N 0,D 1}
$COUP_COMP[4,2]={N 0,D 1}
$COUP_COMP[4,3]={N 0,D 1}
$COUP_COMP[4,5]={N -1,D 170}
$COUP_COMP[4,6]={N -2736,D 267750}
$COUP_COMP[5,1]={N 0,D 1}
$COUP_COMP[5,2]={N 0,D 1}
$COUP_COMP[5,3]={N 0,D 1}
$COUP_COMP[5,4]={N 0,D 1}
$COUP_COMP[5,6]={N 16,D 1575}
$COUP_COMP[6,1]={N 0,D 1}
$COUP_COMP[6,2]={N 0,D 1}
$COUP_COMP[6,3]={N 0,D 1}
$COUP_COMP[6,4]={N 0,D 1}
$COUP_COMP[6,5]={N 0,D 1}
DECL FRA $EXCOUP_COMP[6,6] ;KOPPLUNGSFAKTOREN ACHSE 7 (INDEX 1) BIS ACHSE 12 (INDEX 12), N = ZAEHLER, D =NENNER
$EXCOUP_COMP[1,2]={N 0,D 1}
$EXCOUP_COMP[1,3]={N 0,D 1}
$EXCOUP_COMP[1,4]={N 0,D 1}
$EXCOUP_COMP[1,5]={N 0,D 1}
$EXCOUP_COMP[1,6]={N 0,D 1}
$EXCOUP_COMP[2,1]={N 0,D 1}
$EXCOUP_COMP[2,3]={N 0,D 1}
$EXCOUP_COMP[2,4]={N 0,D 1}
$EXCOUP_COMP[2,5]={N 0,D 1}
$EXCOUP_COMP[2,6]={N 0,D 1}
$EXCOUP_COMP[3,1]={N 0,D 1}
$EXCOUP_COMP[3,2]={N 0,D 1}
$EXCOUP_COMP[3,4]={N 0,D 1}
$EXCOUP_COMP[3,5]={N 0,D 1}
$EXCOUP_COMP[3,6]={N 0,D 1}
$EXCOUP_COMP[4,1]={N 0,D 1}
$EXCOUP_COMP[4,2]={N 0,D 1}
$EXCOUP_COMP[4,3]={N 0,D 1}
$EXCOUP_COMP[4,5]={N 0,D 1}
$EXCOUP_COMP[4,6]={N 0,D 1}
$EXCOUP_COMP[5,1]={N 0,D 1}
$EXCOUP_COMP[5,2]={N 0,D 1}
$EXCOUP_COMP[5,3]={N 0,D 1}
$EXCOUP_COMP[5,4]={N 0,D 1}
$EXCOUP_COMP[5,6]={N 0,D 1}
$EXCOUP_COMP[6,1]={N 0,D 1}
$EXCOUP_COMP[6,2]={N 0,D 1}
$EXCOUP_COMP[6,3]={N 0,D 1}
$EXCOUP_COMP[6,4]={N 0,D 1}
$EXCOUP_COMP[6,5]={N 0,D 1}
REAL $MAMES[12] ;VERSCHIEBUNG ZW. MECH. UND MATH. NULLPUNKT ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$MAMES[1]=0.0
$MAMES[2]=-90.0
$MAMES[3]=90.0
$MAMES[4]=0.0
$MAMES[5]=0.0
$MAMES[6]=0.0
$MAMES[7]=0.0
$MAMES[8]=0.0
$MAMES[9]=0.0
$MAMES[10]=0.0
$MAMES[11]=0.0
$MAMES[12]=0.0
DECL INDIVIDUAL_MAMES $INDIVIDUAL_MAMES=#NONE ; Existenz individueller MAMES-Werte
FRAME $ROBROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTER IM WELTKOORDINATENSYSTEM [MM,GRAD]
FRAME $ERSYSROOT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ROBOTERFUSSPUNKTKINEMATIK IM WELTKOORDINATENSYSTEM [MM,GRAD]
DECL FRA $RAT_MOT_AX[12] ;UEBERSETZUNG MOTOR-ACHSE N = ZAEHLER, D = NENNER
$RAT_MOT_AX[1]={N -219,D 1}
$RAT_MOT_AX[2]={N -5512,D 23}
$RAT_MOT_AX[3]={N -2853,D 13}
$RAT_MOT_AX[4]={N -3705,D 22}
$RAT_MOT_AX[5]={N -170,D 1}
$RAT_MOT_AX[6]={N 1575,D 16}
$RAT_MOT_AX[7]={N 185,D 1}
$RAT_MOT_AX[8]={N 0,D 1}
$RAT_MOT_AX[9]={N 0,D 1}
$RAT_MOT_AX[10]={N 0,D 1}
$RAT_MOT_AX[11]={N 0,D 1}
$RAT_MOT_AX[12]={N 0,D 1}
DECL FRA $RAT_MOT_ENC[12] ;UEBERSETZUNG MOTOR-GEBER ACHSE[I] (I=1:A1,I=7:E1) N = ZAEHLER, D = NENNER
$RAT_MOT_ENC[1]={N 1,D 4}
$RAT_MOT_ENC[2]={N 1,D 4}
$RAT_MOT_ENC[3]={N 1,D 4}
$RAT_MOT_ENC[4]={N 1,D 4}
$RAT_MOT_ENC[5]={N 1,D 4}
$RAT_MOT_ENC[6]={N 1,D 4}
$RAT_MOT_ENC[7]={N 1,D 4}
$RAT_MOT_ENC[8]={N 1,D 3}
$RAT_MOT_ENC[9]={N 1,D 3}
$RAT_MOT_ENC[10]={N 1,D 3}
$RAT_MOT_ENC[11]={N 1,D 3}
$RAT_MOT_ENC[12]={N 1,D 3}
INT $DSECHANNEL[12] ;ACHSZUORDNUNG AUF DSE
$DSECHANNEL[1]=1
$DSECHANNEL[2]=2
$DSECHANNEL[3]=3
$DSECHANNEL[4]=4
$DSECHANNEL[5]=5
$DSECHANNEL[6]=6
$DSECHANNEL[7]=7
$DSECHANNEL[8]=0
$DSECHANNEL[9]=0
$DSECHANNEL[10]=0
$DSECHANNEL[11]=0
$DSECHANNEL[12]=0
INT $PMCHANNEL[12] ;ZUORDNUNG DER ACHSE ZU DSE, KPS, BREMSENKANAL UND SBM
$PMCHANNEL[1]=20
$PMCHANNEL[2]=20
$PMCHANNEL[3]=20
$PMCHANNEL[4]=20
$PMCHANNEL[5]=20
$PMCHANNEL[6]=20
$PMCHANNEL[7]=21
$PMCHANNEL[8]=0
$PMCHANNEL[9]=0
$PMCHANNEL[10]=0
$PMCHANNEL[11]=0
$PMCHANNEL[12]=0
DECL REAL $LOOP_LG_PTP[18] ;NUR FUER POS-SLAVES!!! - VERSTAERKUNG DES LAGESREGLERS
$LOOP_LG_PTP[1]=0.0
$LOOP_LG_PTP[2]=0.0
$LOOP_LG_PTP[3]=0.0
$LOOP_LG_PTP[4]=0.0
$LOOP_LG_PTP[5]=0.0
$LOOP_LG_PTP[6]=0.0
$LOOP_LG_PTP[7]=0.0
$LOOP_LG_PTP[8]=0.0
$LOOP_LG_PTP[9]=0.0
$LOOP_LG_PTP[10]=0.0
$LOOP_LG_PTP[11]=0.0
$LOOP_LG_PTP[12]=0.0
$LOOP_LG_PTP[13]=0.0
$LOOP_LG_PTP[14]=0.0
$LOOP_LG_PTP[15]=0.0
$LOOP_LG_PTP[16]=0.0
$LOOP_LG_PTP[17]=0.0
$LOOP_LG_PTP[18]=0.0
DECL REAL $LOOP_I_LG_PTP[18] ;NUR FUER POS-SLAVES!!! - INTEGRALANTEIL DES LAGEREGLERS
$LOOP_I_LG_PTP[1]=0.0
$LOOP_I_LG_PTP[2]=0.0
$LOOP_I_LG_PTP[3]=0.0
$LOOP_I_LG_PTP[4]=0.0
$LOOP_I_LG_PTP[5]=0.0
$LOOP_I_LG_PTP[6]=0.0
$LOOP_I_LG_PTP[7]=0.0
$LOOP_I_LG_PTP[8]=0.0
$LOOP_I_LG_PTP[9]=0.0
$LOOP_I_LG_PTP[10]=0.0
$LOOP_I_LG_PTP[11]=0.0
$LOOP_I_LG_PTP[12]=0.0
$LOOP_I_LG_PTP[13]=0.0
$LOOP_I_LG_PTP[14]=0.0
$LOOP_I_LG_PTP[15]=0.0
$LOOP_I_LG_PTP[16]=0.0
$LOOP_I_LG_PTP[17]=0.0
$LOOP_I_LG_PTP[18]=0.0
DECL REAL $LOOP_G_VEL_PTP[18] ;NUR FUER POS-SLAVES!!! - VERSTAERKUNG DES DREHZAHLREGLERS
$LOOP_G_VEL_PTP[1]=0.0
$LOOP_G_VEL_PTP[2]=0.0
$LOOP_G_VEL_PTP[3]=0.0
$LOOP_G_VEL_PTP[4]=0.0
$LOOP_G_VEL_PTP[5]=0.0
$LOOP_G_VEL_PTP[6]=0.0
$LOOP_G_VEL_PTP[7]=0.0
$LOOP_G_VEL_PTP[8]=0.0
$LOOP_G_VEL_PTP[9]=0.0
$LOOP_G_VEL_PTP[10]=0.0
$LOOP_G_VEL_PTP[11]=0.0
$LOOP_G_VEL_PTP[12]=0.0
$LOOP_G_VEL_PTP[13]=0.0
$LOOP_G_VEL_PTP[14]=0.0
$LOOP_G_VEL_PTP[15]=0.0
$LOOP_G_VEL_PTP[16]=0.0
$LOOP_G_VEL_PTP[17]=0.0
$LOOP_G_VEL_PTP[18]=0.0
DECL REAL $LOOP_I_VEL_PTP[18] ;NUR FUER POS-SLAVES!!! - INTEGRALANTEIL DES DREHZAHLREGLERS
$LOOP_I_VEL_PTP[1]=0.0
$LOOP_I_VEL_PTP[2]=0.0
$LOOP_I_VEL_PTP[3]=0.0
$LOOP_I_VEL_PTP[4]=0.0
$LOOP_I_VEL_PTP[5]=0.0
$LOOP_I_VEL_PTP[6]=0.0
$LOOP_I_VEL_PTP[7]=0.0
$LOOP_I_VEL_PTP[8]=0.0
$LOOP_I_VEL_PTP[9]=0.0
$LOOP_I_VEL_PTP[10]=0.0
$LOOP_I_VEL_PTP[11]=0.0
$LOOP_I_VEL_PTP[12]=0.0
$LOOP_I_VEL_PTP[13]=0.0
$LOOP_I_VEL_PTP[14]=0.0
$LOOP_I_VEL_PTP[15]=0.0
$LOOP_I_VEL_PTP[16]=0.0
$LOOP_I_VEL_PTP[17]=0.0
$LOOP_I_VEL_PTP[18]=0.0
DECL INT $LOOP_DIRECTION[18] ;NUR FUER SLAVES!!! 1=GLEICHE RICHTUNG WIE MASTER, -1=ENTGEGENGESETZT
$LOOP_DIRECTION[1]=1
$LOOP_DIRECTION[2]=1
$LOOP_DIRECTION[3]=1
$LOOP_DIRECTION[4]=1
$LOOP_DIRECTION[5]=1
$LOOP_DIRECTION[6]=1
$LOOP_DIRECTION[7]=1
$LOOP_DIRECTION[8]=1
$LOOP_DIRECTION[9]=1
$LOOP_DIRECTION[10]=1
$LOOP_DIRECTION[11]=1
$LOOP_DIRECTION[12]=1
$LOOP_DIRECTION[13]=1
$LOOP_DIRECTION[14]=1
$LOOP_DIRECTION[15]=1
$LOOP_DIRECTION[16]=1
$LOOP_DIRECTION[17]=1
$LOOP_DIRECTION[18]=1
DECL INT $SLAVE_LOOP_FOL_CRITICAL[18] ;PROZENTWERT ZUR KONFIGURATION EINER MAX. ABWEICHGRENZE MASTER ZU SLAVE (>100%)
$SLAVE_LOOP_FOL_CRITICAL[1]=1
$SLAVE_LOOP_FOL_CRITICAL[2]=1
$SLAVE_LOOP_FOL_CRITICAL[3]=1
$SLAVE_LOOP_FOL_CRITICAL[4]=1
$SLAVE_LOOP_FOL_CRITICAL[5]=1
$SLAVE_LOOP_FOL_CRITICAL[6]=1
$SLAVE_LOOP_FOL_CRITICAL[7]=1
$SLAVE_LOOP_FOL_CRITICAL[8]=1
$SLAVE_LOOP_FOL_CRITICAL[9]=1
$SLAVE_LOOP_FOL_CRITICAL[10]=1
$SLAVE_LOOP_FOL_CRITICAL[11]=1
$SLAVE_LOOP_FOL_CRITICAL[12]=1
$SLAVE_LOOP_FOL_CRITICAL[13]=1
$SLAVE_LOOP_FOL_CRITICAL[14]=1
$SLAVE_LOOP_FOL_CRITICAL[15]=1
$SLAVE_LOOP_FOL_CRITICAL[16]=1
$SLAVE_LOOP_FOL_CRITICAL[17]=1
$SLAVE_LOOP_FOL_CRITICAL[18]=1
DECL REAL $SLAVE_LOOP_FOL_ALARM[18] ;ABWEICHUNGSLIMIT ZW. MASTER UND SLAVE (IN GRAD BZW. MM)
$SLAVE_LOOP_FOL_ALARM[1]=0.0
$SLAVE_LOOP_FOL_ALARM[2]=0.0
$SLAVE_LOOP_FOL_ALARM[3]=0.0
$SLAVE_LOOP_FOL_ALARM[4]=0.0
$SLAVE_LOOP_FOL_ALARM[5]=0.0
$SLAVE_LOOP_FOL_ALARM[6]=0.0
$SLAVE_LOOP_FOL_ALARM[7]=0.0
$SLAVE_LOOP_FOL_ALARM[8]=0.0
$SLAVE_LOOP_FOL_ALARM[9]=0.0
$SLAVE_LOOP_FOL_ALARM[10]=0.0
$SLAVE_LOOP_FOL_ALARM[11]=0.0
$SLAVE_LOOP_FOL_ALARM[12]=0.0
$SLAVE_LOOP_FOL_ALARM[13]=0.0
$SLAVE_LOOP_FOL_ALARM[14]=0.0
$SLAVE_LOOP_FOL_ALARM[15]=0.0
$SLAVE_LOOP_FOL_ALARM[16]=0.0
$SLAVE_LOOP_FOL_ALARM[17]=0.0
$SLAVE_LOOP_FOL_ALARM[18]=0.0
DECL REAL $SLAVE_LOOP_SPEED_ALARM[18] ;MAX. GESCHW.-ABW. (1/MIN) FUER MOMENTENGEREGELTE SLAVE-ANTRIEB
$SLAVE_LOOP_SPEED_ALARM[1]=0.0
$SLAVE_LOOP_SPEED_ALARM[2]=0.0
$SLAVE_LOOP_SPEED_ALARM[3]=0.0
$SLAVE_LOOP_SPEED_ALARM[4]=0.0
$SLAVE_LOOP_SPEED_ALARM[5]=0.0
$SLAVE_LOOP_SPEED_ALARM[6]=0.0
$SLAVE_LOOP_SPEED_ALARM[7]=0.0
$SLAVE_LOOP_SPEED_ALARM[8]=0.0
$SLAVE_LOOP_SPEED_ALARM[9]=0.0
$SLAVE_LOOP_SPEED_ALARM[10]=0.0
$SLAVE_LOOP_SPEED_ALARM[11]=0.0
$SLAVE_LOOP_SPEED_ALARM[12]=0.0
$SLAVE_LOOP_SPEED_ALARM[13]=0.0
$SLAVE_LOOP_SPEED_ALARM[14]=0.0
$SLAVE_LOOP_SPEED_ALARM[15]=0.0
$SLAVE_LOOP_SPEED_ALARM[16]=0.0
$SLAVE_LOOP_SPEED_ALARM[17]=0.0
$SLAVE_LOOP_SPEED_ALARM[18]=0.0
DECL INT $SLAVE_LOOP_PMCHANNEL[18] ;POWERMODUL FUER SLAVE-REGELKREISE
$SLAVE_LOOP_PMCHANNEL[1]=0
$SLAVE_LOOP_PMCHANNEL[2]=0
$SLAVE_LOOP_PMCHANNEL[3]=0
$SLAVE_LOOP_PMCHANNEL[4]=0
$SLAVE_LOOP_PMCHANNEL[5]=0
$SLAVE_LOOP_PMCHANNEL[6]=0
$SLAVE_LOOP_PMCHANNEL[7]=0
$SLAVE_LOOP_PMCHANNEL[8]=0
$SLAVE_LOOP_PMCHANNEL[9]=0
$SLAVE_LOOP_PMCHANNEL[10]=0
$SLAVE_LOOP_PMCHANNEL[11]=0
$SLAVE_LOOP_PMCHANNEL[12]=0
$SLAVE_LOOP_PMCHANNEL[13]=0
$SLAVE_LOOP_PMCHANNEL[14]=0
$SLAVE_LOOP_PMCHANNEL[15]=0
$SLAVE_LOOP_PMCHANNEL[16]=0
$SLAVE_LOOP_PMCHANNEL[17]=0
$SLAVE_LOOP_PMCHANNEL[18]=0
DECL INT $LOOP_TYPE[18] ;1:MASTER (DEFAULT), 2:POS.-GEREGELTER SLAVE, 3:MOMENTENGEREGELTER SLAVE, 4:PARALLEL KSD, 5:POSITION TRACKER, 6:KRAFTREGELUNG, 7:EXTERN KONFIGURIERT, 8:EKO MASTER, 9:EKO SLAVE
$LOOP_TYPE[1]=1
$LOOP_TYPE[2]=1
$LOOP_TYPE[3]=1
$LOOP_TYPE[4]=1
$LOOP_TYPE[5]=1
$LOOP_TYPE[6]=1
$LOOP_TYPE[7]=1
$LOOP_TYPE[8]=1
$LOOP_TYPE[9]=1
$LOOP_TYPE[10]=1
$LOOP_TYPE[11]=1
$LOOP_TYPE[12]=1
$LOOP_TYPE[13]=1
$LOOP_TYPE[14]=1
$LOOP_TYPE[15]=1
$LOOP_TYPE[16]=1
$LOOP_TYPE[17]=1
$LOOP_TYPE[18]=1
DECL INT $LOOP_TYPE_ATTRIBUTE[18] ;ZUSAETZLICHE EIGENSCHAFTEN DES REGELKREISES
$LOOP_TYPE_ATTRIBUTE[1]=0
$LOOP_TYPE_ATTRIBUTE[2]=0
$LOOP_TYPE_ATTRIBUTE[3]=0
$LOOP_TYPE_ATTRIBUTE[4]=0
$LOOP_TYPE_ATTRIBUTE[5]=0
$LOOP_TYPE_ATTRIBUTE[6]=0
$LOOP_TYPE_ATTRIBUTE[7]=0
$LOOP_TYPE_ATTRIBUTE[8]=0
$LOOP_TYPE_ATTRIBUTE[9]=0
$LOOP_TYPE_ATTRIBUTE[10]=0
$LOOP_TYPE_ATTRIBUTE[11]=0
$LOOP_TYPE_ATTRIBUTE[12]=0
$LOOP_TYPE_ATTRIBUTE[13]=0
$LOOP_TYPE_ATTRIBUTE[14]=0
$LOOP_TYPE_ATTRIBUTE[15]=0
$LOOP_TYPE_ATTRIBUTE[16]=0
$LOOP_TYPE_ATTRIBUTE[17]=0
$LOOP_TYPE_ATTRIBUTE[18]=0
DECL INT $MASTER_LOOP[18] ;NUMMER DES MASTER-REGELKREISES, AUF DEN SICH DER SLAVE BEZIEHT
$MASTER_LOOP[1]=0
$MASTER_LOOP[2]=0
$MASTER_LOOP[3]=0
$MASTER_LOOP[4]=0
$MASTER_LOOP[5]=0
$MASTER_LOOP[6]=0
$MASTER_LOOP[7]=0
$MASTER_LOOP[8]=0
$MASTER_LOOP[9]=0
$MASTER_LOOP[10]=0
$MASTER_LOOP[11]=0
$MASTER_LOOP[12]=0
$MASTER_LOOP[13]=0
$MASTER_LOOP[14]=0
$MASTER_LOOP[15]=0
$MASTER_LOOP[16]=0
$MASTER_LOOP[17]=0
$MASTER_LOOP[18]=0
DECL REAL $SLAVE_TORQUE_RATIO[18] ;MOMENTENGEREGELTER SLAVE: VERHAELTNIS SOLLMOMENT SLAVE/MASTER
$SLAVE_TORQUE_RATIO[1]=0.0
$SLAVE_TORQUE_RATIO[2]=0.0
$SLAVE_TORQUE_RATIO[3]=0.0
$SLAVE_TORQUE_RATIO[4]=0.0
$SLAVE_TORQUE_RATIO[5]=0.0
$SLAVE_TORQUE_RATIO[6]=0.0
$SLAVE_TORQUE_RATIO[7]=0.0
$SLAVE_TORQUE_RATIO[8]=0.0
$SLAVE_TORQUE_RATIO[9]=0.0
$SLAVE_TORQUE_RATIO[10]=0.0
$SLAVE_TORQUE_RATIO[11]=0.0
$SLAVE_TORQUE_RATIO[12]=0.0
$SLAVE_TORQUE_RATIO[13]=0.0
$SLAVE_TORQUE_RATIO[14]=0.0
$SLAVE_TORQUE_RATIO[15]=0.0
$SLAVE_TORQUE_RATIO[16]=0.0
$SLAVE_TORQUE_RATIO[17]=0.0
$SLAVE_TORQUE_RATIO[18]=0.0
DECL INT $NINPUT_SENSORTYPE[18] ;DREHZAHL-GEBER. 1:RDW, 2:CAN-RDW, 3:INTERBUS-SENSOR, 4:LASER, 5:ENDAT GEBER, 6:KRC3A
$NINPUT_SENSORTYPE[1]=1
$NINPUT_SENSORTYPE[2]=1
$NINPUT_SENSORTYPE[3]=1
$NINPUT_SENSORTYPE[4]=1
$NINPUT_SENSORTYPE[5]=1
$NINPUT_SENSORTYPE[6]=1
$NINPUT_SENSORTYPE[7]=1
$NINPUT_SENSORTYPE[8]=1
$NINPUT_SENSORTYPE[9]=1
$NINPUT_SENSORTYPE[10]=1
$NINPUT_SENSORTYPE[11]=1
$NINPUT_SENSORTYPE[12]=1
$NINPUT_SENSORTYPE[13]=1
$NINPUT_SENSORTYPE[14]=1
$NINPUT_SENSORTYPE[15]=1
$NINPUT_SENSORTYPE[16]=1
$NINPUT_SENSORTYPE[17]=1
$NINPUT_SENSORTYPE[18]=1
DECL INT $NINPUT_SENSORCHANNEL[18] ;KANALNUMMER DES DREHZAHL-GEBERS
$NINPUT_SENSORCHANNEL[1]=1
$NINPUT_SENSORCHANNEL[2]=2
$NINPUT_SENSORCHANNEL[3]=3
$NINPUT_SENSORCHANNEL[4]=4
$NINPUT_SENSORCHANNEL[5]=5
$NINPUT_SENSORCHANNEL[6]=6
$NINPUT_SENSORCHANNEL[7]=7
$NINPUT_SENSORCHANNEL[8]=8
$NINPUT_SENSORCHANNEL[9]=9
$NINPUT_SENSORCHANNEL[10]=1
$NINPUT_SENSORCHANNEL[11]=2
$NINPUT_SENSORCHANNEL[12]=3
$NINPUT_SENSORCHANNEL[13]=4
$NINPUT_SENSORCHANNEL[14]=5
$NINPUT_SENSORCHANNEL[15]=6
$NINPUT_SENSORCHANNEL[16]=7
$NINPUT_SENSORCHANNEL[17]=8
$NINPUT_SENSORCHANNEL[18]=9
DECL INT $NINPUT_SUBCHANNEL[18] ;UNTERKANAL DES DREHZAHL-GEBERS
$NINPUT_SUBCHANNEL[1]=0
$NINPUT_SUBCHANNEL[2]=0
$NINPUT_SUBCHANNEL[3]=0
$NINPUT_SUBCHANNEL[4]=0
$NINPUT_SUBCHANNEL[5]=0
$NINPUT_SUBCHANNEL[6]=0
$NINPUT_SUBCHANNEL[7]=0
$NINPUT_SUBCHANNEL[8]=0
$NINPUT_SUBCHANNEL[9]=0
$NINPUT_SUBCHANNEL[10]=0
$NINPUT_SUBCHANNEL[11]=0
$NINPUT_SUBCHANNEL[12]=0
$NINPUT_SUBCHANNEL[13]=0
$NINPUT_SUBCHANNEL[14]=0
$NINPUT_SUBCHANNEL[15]=0
$NINPUT_SUBCHANNEL[16]=0
$NINPUT_SUBCHANNEL[17]=0
$NINPUT_SUBCHANNEL[18]=0
DECL INT $POSINPUT_SENSORTYPE[18] ;POSITIONS-GEBER: 1:RDW, 2:CAN-RDW, 3:INTERBUS-SENSOR, 4:LASER, 5:ENDAT GEBER, 6:KRC3A
$POSINPUT_SENSORTYPE[1]=1
$POSINPUT_SENSORTYPE[2]=1
$POSINPUT_SENSORTYPE[3]=1
$POSINPUT_SENSORTYPE[4]=1
$POSINPUT_SENSORTYPE[5]=1
$POSINPUT_SENSORTYPE[6]=1
$POSINPUT_SENSORTYPE[7]=1
$POSINPUT_SENSORTYPE[8]=1
$POSINPUT_SENSORTYPE[9]=1
$POSINPUT_SENSORTYPE[10]=1
$POSINPUT_SENSORTYPE[11]=1
$POSINPUT_SENSORTYPE[12]=1
$POSINPUT_SENSORTYPE[13]=1
$POSINPUT_SENSORTYPE[14]=1
$POSINPUT_SENSORTYPE[15]=1
$POSINPUT_SENSORTYPE[16]=1
$POSINPUT_SENSORTYPE[17]=1
$POSINPUT_SENSORTYPE[18]=1
DECL INT $POSINPUT_SENSORCHANNEL[18] ;KANALNUMMER DES POSITIONS-GEBERS
$POSINPUT_SENSORCHANNEL[1]=1
$POSINPUT_SENSORCHANNEL[2]=2
$POSINPUT_SENSORCHANNEL[3]=3
$POSINPUT_SENSORCHANNEL[4]=4
$POSINPUT_SENSORCHANNEL[5]=5
$POSINPUT_SENSORCHANNEL[6]=6
$POSINPUT_SENSORCHANNEL[7]=7
$POSINPUT_SENSORCHANNEL[8]=8
$POSINPUT_SENSORCHANNEL[9]=9
$POSINPUT_SENSORCHANNEL[10]=1
$POSINPUT_SENSORCHANNEL[11]=2
$POSINPUT_SENSORCHANNEL[12]=3
$POSINPUT_SENSORCHANNEL[13]=4
$POSINPUT_SENSORCHANNEL[14]=5
$POSINPUT_SENSORCHANNEL[15]=6
$POSINPUT_SENSORCHANNEL[16]=7
$POSINPUT_SENSORCHANNEL[17]=8
$POSINPUT_SENSORCHANNEL[18]=9
DECL INT $POSINPUT_SUBCHANNEL[18] ;UNTERKANALNUMMER DES POSITIONS-GEBERS
$POSINPUT_SUBCHANNEL[1]=0
$POSINPUT_SUBCHANNEL[2]=0
$POSINPUT_SUBCHANNEL[3]=0
$POSINPUT_SUBCHANNEL[4]=0
$POSINPUT_SUBCHANNEL[5]=0
$POSINPUT_SUBCHANNEL[6]=0
$POSINPUT_SUBCHANNEL[7]=0
$POSINPUT_SUBCHANNEL[8]=0
$POSINPUT_SUBCHANNEL[9]=0
$POSINPUT_SUBCHANNEL[10]=0
$POSINPUT_SUBCHANNEL[11]=0
$POSINPUT_SUBCHANNEL[12]=0
$POSINPUT_SUBCHANNEL[13]=0
$POSINPUT_SUBCHANNEL[14]=0
$POSINPUT_SUBCHANNEL[15]=0
$POSINPUT_SUBCHANNEL[16]=0
$POSINPUT_SUBCHANNEL[17]=0
$POSINPUT_SUBCHANNEL[18]=0
DECL FRA $LOOP_RAT_MOT_AX[18] ;NUR FUER SLAVES!!! - UEBERSETZUNG MOTOR-ANTRIEBSRAD DER SLAVE ACHSE
$LOOP_RAT_MOT_AX[1]={N 0,D 1}
$LOOP_RAT_MOT_AX[2]={N 0,D 1}
$LOOP_RAT_MOT_AX[3]={N 0,D 1}
$LOOP_RAT_MOT_AX[4]={N 0,D 1}
$LOOP_RAT_MOT_AX[5]={N 0,D 1}
$LOOP_RAT_MOT_AX[6]={N 0,D 1}
$LOOP_RAT_MOT_AX[7]={N 0,D 1}
$LOOP_RAT_MOT_AX[8]={N 0,D 1}
$LOOP_RAT_MOT_AX[9]={N 0,D 1}
$LOOP_RAT_MOT_AX[10]={N 0,D 1}
$LOOP_RAT_MOT_AX[11]={N 0,D 1}
$LOOP_RAT_MOT_AX[12]={N 0,D 1}
$LOOP_RAT_MOT_AX[13]={N 0,D 1}
$LOOP_RAT_MOT_AX[14]={N 0,D 1}
$LOOP_RAT_MOT_AX[15]={N 0,D 1}
$LOOP_RAT_MOT_AX[16]={N 0,D 1}
$LOOP_RAT_MOT_AX[17]={N 0,D 1}
$LOOP_RAT_MOT_AX[18]={N 0,D 1}
DECL FRA $LOOP_RAT_EXTPOS_AX[18] ;UEBERSETZUNG DES SENSORRADES
$LOOP_RAT_EXTPOS_AX[1]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[2]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[3]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[4]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[5]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[6]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[7]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[8]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[9]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[10]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[11]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[12]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[13]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[14]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[15]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[16]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[17]={N 0,D 1}
$LOOP_RAT_EXTPOS_AX[18]={N 0,D 1}
DECL INT $MOTOR_POLE_NUMBER[18] ;VARIABLE WIRD NICHT VERWENDET
$MOTOR_POLE_NUMBER[1]=3
$MOTOR_POLE_NUMBER[2]=3
$MOTOR_POLE_NUMBER[3]=3
$MOTOR_POLE_NUMBER[4]=3
$MOTOR_POLE_NUMBER[5]=3
$MOTOR_POLE_NUMBER[6]=3
$MOTOR_POLE_NUMBER[7]=3
$MOTOR_POLE_NUMBER[8]=3
$MOTOR_POLE_NUMBER[9]=3
$MOTOR_POLE_NUMBER[10]=3
$MOTOR_POLE_NUMBER[11]=3
$MOTOR_POLE_NUMBER[12]=3
$MOTOR_POLE_NUMBER[13]=3
$MOTOR_POLE_NUMBER[14]=3
$MOTOR_POLE_NUMBER[15]=3
$MOTOR_POLE_NUMBER[16]=3
$MOTOR_POLE_NUMBER[17]=3
$MOTOR_POLE_NUMBER[18]=3
CHAR $SERVOFILE_CONFIG[16] ;SERVO-CONFIGURATIONSFILE
$SERVOFILE_CONFIG[]="DEFAULT"
CHAR $SERVOFILE1[16]
$SERVOFILE1[]="KSD_32_MG1_S7_0"
CHAR $SERVOFILE2[16]
$SERVOFILE2[]="KSD_32_MIall"
CHAR $SERVOFILE3[16]
$SERVOFILE3[]="KSD_32_MIall"
CHAR $SERVOFILE4[16]
$SERVOFILE4[]="KSD_16_MH_L"
CHAR $SERVOFILE5[16]
$SERVOFILE5[]="KSD_16_MH_L"
CHAR $SERVOFILE6[16]
$SERVOFILE6[]="KSD_16_MH_L"
CHAR $SERVOFILE7[16]
$SERVOFILE7[]="KSD_48_MI1ALL"
CHAR $SERVOFILE8[16]
$SERVOFILE8[]="DEFAULT"
CHAR $SERVOFILE9[16]
$SERVOFILE9[]="DEFAULT"
CHAR $SERVOFILE10[16]
$SERVOFILE10[]="DEFAULT"
CHAR $SERVOFILE11[16]
$SERVOFILE11[]="DEFAULT"
CHAR $SERVOFILE12[16]
$SERVOFILE12[]="DEFAULT"
CHAR $SERVOFILEKPS1[16] ;Servofile KPS1 DSE1
$SERVOFILEKPS1[]="KPS_600_20" ;Servofile KPS1 DSE1
CHAR $SERVOFILEKPS2[16] ;Servofile KPS2 DSE1
$SERVOFILEKPS2[]="DEFAULT" ;Servofile KPS2 DSE1
CHAR $SERVOFILEKPS3[16] ;Servofile KPS3 DSE1
$SERVOFILEKPS3[]="DEFAULT" ;Servofile KPS3 DSE1
CHAR $SERVOFILEKPS4[16] ;Servofile KPS4 DSE1
$SERVOFILEKPS4[]="DEFAULT" ;Servofile KPS4 DSE1
CHAR $SERVOFILEKPS5[16] ;Servofile KPS1 DSE2
$SERVOFILEKPS5[]="DEFAULT" ;Servofile KPS1 DSE2
CHAR $SERVOFILEKPS6[16] ;Servofile KPS2 DSE2
$SERVOFILEKPS6[]="DEFAULT" ;Servofile KPS2 DSE2
CHAR $SERVOFILEKPS7[16] ;Servofile KPS3 DSE2
$SERVOFILEKPS7[]="DEFAULT" ;Servofile KPS3 DSE2
CHAR $SERVOFILEKPS8[16] ;Servofile KPS4 DSE2
$SERVOFILEKPS8[]="DEFAULT" ;Servofile KPS4 DSE2
REAL $CURR_MAX[12] ;MAXIMALER POWERMODUL-STROM IN AEFF
$CURR_MAX[1]=32.0
$CURR_MAX[2]=32.0
$CURR_MAX[3]=32.0
$CURR_MAX[4]=16.0
$CURR_MAX[5]=16.0
$CURR_MAX[6]=16.0
$CURR_MAX[7]=48.0
$CURR_MAX[8]=0.0
$CURR_MAX[9]=0.0
$CURR_MAX[10]=0.0
$CURR_MAX[11]=0.0
$CURR_MAX[12]=0.0
REAL $CURR_CAL[12] ;STROMKALIBRIERUNG POWERMODUL (STROMWANDLER)
$CURR_CAL[1]=1.0
$CURR_CAL[2]=1.0
$CURR_CAL[3]=1.0
$CURR_CAL[4]=1.0
$CURR_CAL[5]=1.0
$CURR_CAL[6]=1.0
$CURR_CAL[7]=1.0
$CURR_CAL[8]=1.0
$CURR_CAL[9]=1.0
$CURR_CAL[10]=1.0
$CURR_CAL[11]=1.0
$CURR_CAL[12]=1.0
INT $CURR_LIM[12] ;STROMSOLLWERT LIMIT ACHSE [I] %
$CURR_LIM[1]=100
$CURR_LIM[2]=100
$CURR_LIM[3]=100
$CURR_LIM[4]=100
$CURR_LIM[5]=100
$CURR_LIM[6]=100
$CURR_LIM[7]=100
$CURR_LIM[8]=100
$CURR_LIM[9]=100
$CURR_LIM[10]=100
$CURR_LIM[11]=100
$CURR_LIM[12]=100
REAL $CURR_MON[12] ;ZULAESSIGER NENNSTROM
$CURR_MON[1]=16.7999992
$CURR_MON[2]=17.5
$CURR_MON[3]=17.5
$CURR_MON[4]=8.0
$CURR_MON[5]=8.0
$CURR_MON[6]=8.0
$CURR_MON[7]=16.5
$CURR_MON[8]=0.0
$CURR_MON[9]=0.0
$CURR_MON[10]=0.0
$CURR_MON[11]=0.0
$CURR_MON[12]=0.0
REAL $KPS_CURR_MAX[8] ;MAXIMALSTROM EINES KPS UEBER 1s
$KPS_CURR_MAX[1]=70.0
$KPS_CURR_MAX[2]=70.0
$KPS_CURR_MAX[3]=70.0
$KPS_CURR_MAX[4]=70.0
$KPS_CURR_MAX[5]=70.0
$KPS_CURR_MAX[6]=70.0
$KPS_CURR_MAX[7]=70.0
$KPS_CURR_MAX[8]=70.0
REAL $KPS_CURR_RATED[8] ;NENNSTROM EINES KPS UEBER 60s
$KPS_CURR_RATED[1]=20.0
$KPS_CURR_RATED[2]=20.0
$KPS_CURR_RATED[3]=20.0
$KPS_CURR_RATED[4]=20.0
$KPS_CURR_RATED[5]=20.0
$KPS_CURR_RATED[6]=20.0
$KPS_CURR_RATED[7]=20.0
$KPS_CURR_RATED[8]=20.0
REAL $CURR_COM_EX[6] ;STROMGRENZE EXTERNER ACHSEN FUER HANDVERFAHREN
$CURR_COM_EX[1]=100.0
$CURR_COM_EX[2]=100.0
$CURR_COM_EX[3]=100.0
$CURR_COM_EX[4]=100.0
$CURR_COM_EX[5]=100.0
$CURR_COM_EX[6]=100.0
REAL $KT_MOT[12] ;KT-FAKTOR DER MOTOREN
$KT_MOT[1]=0.974300027
$KT_MOT[2]=1.36000001
$KT_MOT[3]=1.36000001
$KT_MOT[4]=1.23379004
$KT_MOT[5]=1.23379004
$KT_MOT[6]=1.23379004
$KT_MOT[7]=1.39999998
$KT_MOT[8]=1.0
$KT_MOT[9]=1.0
$KT_MOT[10]=1.0
$KT_MOT[11]=1.0
$KT_MOT[12]=1.0
REAL $KT0_MOT[12] ;KT0-FAKTOR DER MOTOREN 1-12
$KT0_MOT[1]=1.20000005
$KT0_MOT[2]=1.41999996
$KT0_MOT[3]=1.41999996
$KT0_MOT[4]=1.33000004
$KT0_MOT[5]=1.33000004
$KT0_MOT[6]=1.33000004
$KT0_MOT[7]=1.58000004
$KT0_MOT[8]=1.0
$KT0_MOT[9]=1.0
$KT0_MOT[10]=1.0
$KT0_MOT[11]=1.0
$KT0_MOT[12]=1.0
REAL $RAISE_TIME[12] ;ACHSHOCHLAUFZEIT ACHSE[I] (I=1:A1,I=7:E1) [MS]
$RAISE_TIME[1]=1058.5
$RAISE_TIME[2]=835.299988
$RAISE_TIME[3]=533.299988
$RAISE_TIME[4]=500.0
$RAISE_TIME[5]=450.0
$RAISE_TIME[6]=768.799988
$RAISE_TIME[7]=1000.0
$RAISE_TIME[8]=0.0
$RAISE_TIME[9]=0.0
$RAISE_TIME[10]=0.0
$RAISE_TIME[11]=0.0
$RAISE_TIME[12]=0.0
REAL $RAISE_T_MOT[12] ;MOTORHOCHLAUFZEIT ACHSE[I] (I=1:A1,I=7:E1) [MS]
$RAISE_T_MOT[1]=6.80000019
$RAISE_T_MOT[2]=6.80000019
$RAISE_T_MOT[3]=6.80000019
$RAISE_T_MOT[4]=5.0
$RAISE_T_MOT[5]=5.0
$RAISE_T_MOT[6]=5.0
$RAISE_T_MOT[7]=5.0
$RAISE_T_MOT[8]=0.0
$RAISE_T_MOT[9]=0.0
$RAISE_T_MOT[10]=0.0
$RAISE_T_MOT[11]=0.0
$RAISE_T_MOT[12]=0.0
REAL $VEL_AXIS_MA[12] ;NENNDREHZAHL DES MOTORS ACHSE[I] (I=1:A1,I=7:E1) [U/MIN]
$VEL_AXIS_MA[1]=4300.0
$VEL_AXIS_MA[2]=4000.0
$VEL_AXIS_MA[3]=4000.0
$VEL_AXIS_MA[4]=3300.0
$VEL_AXIS_MA[5]=3400.0
$VEL_AXIS_MA[6]=4100.0
$VEL_AXIS_MA[7]=3350.0
$VEL_AXIS_MA[8]=0.0
$VEL_AXIS_MA[9]=0.0
$VEL_AXIS_MA[10]=0.0
$VEL_AXIS_MA[11]=0.0
$VEL_AXIS_MA[12]=0.0
INT $VEL_CPT1_MA[12]
$VEL_CPT1_MA[1]=29
$VEL_CPT1_MA[2]=29
$VEL_CPT1_MA[3]=29
$VEL_CPT1_MA[4]=29
$VEL_CPT1_MA[5]=29
$VEL_CPT1_MA[6]=29
$VEL_CPT1_MA[7]=29
$VEL_CPT1_MA[8]=29
$VEL_CPT1_MA[9]=29
$VEL_CPT1_MA[10]=29
$VEL_CPT1_MA[11]=29
$VEL_CPT1_MA[12]=29
INT $VEL_DSE_MA[12] ;achsweise Ueberwachungsgrenzen der Geschwindigkeit
$VEL_DSE_MA[1]=136
$VEL_DSE_MA[2]=136
$VEL_DSE_MA[3]=136
$VEL_DSE_MA[4]=136
$VEL_DSE_MA[5]=136
$VEL_DSE_MA[6]=136
$VEL_DSE_MA[7]=136
$VEL_DSE_MA[8]=136
$VEL_DSE_MA[9]=136
$VEL_DSE_MA[10]=136
$VEL_DSE_MA[11]=136
$VEL_DSE_MA[12]=136
INT $AXIS_RESO[12] ;AUFLOESUNG DES MESSYSTEMS ACHSE[I] (I=1:A1,I=7:E1) [INKR]
$AXIS_RESO[1]=4096
$AXIS_RESO[2]=4096
$AXIS_RESO[3]=4096
$AXIS_RESO[4]=4096
$AXIS_RESO[5]=4096
$AXIS_RESO[6]=4096
$AXIS_RESO[7]=4096
$AXIS_RESO[8]=4096
$AXIS_RESO[9]=4096
$AXIS_RESO[10]=4096
$AXIS_RESO[11]=4096
$AXIS_RESO[12]=4096
INT $RED_VEL_AXC[12] ;REDUZIERFAKTOR FUER AXIALE GESCHWINDIGKEIT BEI ACHSSPEZ. HANDVERFAHREN UND   KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_VEL_AXC[1]=7
$RED_VEL_AXC[2]=8
$RED_VEL_AXC[3]=8
$RED_VEL_AXC[4]=5
$RED_VEL_AXC[5]=5
$RED_VEL_AXC[6]=5
$RED_VEL_AXC[7]=10
$RED_VEL_AXC[8]=0
$RED_VEL_AXC[9]=0
$RED_VEL_AXC[10]=0
$RED_VEL_AXC[11]=0
$RED_VEL_AXC[12]=0
INT $RED_ACC_AXC[12] ;REDUZIERFAKTOR FUER AXIALE BESCHLEUNIGUNG BEI ACHSSPEZ. HANDVERFAHREN UND  KOMMANDOBETRIEB (PTP) ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_ACC_AXC[1]=15
$RED_ACC_AXC[2]=10
$RED_ACC_AXC[3]=10
$RED_ACC_AXC[4]=10
$RED_ACC_AXC[5]=15
$RED_ACC_AXC[6]=10
$RED_ACC_AXC[7]=20
$RED_ACC_AXC[8]=0
$RED_ACC_AXC[9]=0
$RED_ACC_AXC[10]=0
$RED_ACC_AXC[11]=0
$RED_ACC_AXC[12]=0
INT $RED_ACC_DYN=100
REAL $RED_VEL_CPC=2.0 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSGESCHWINDIGKEIT BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
REAL $RED_ACC_CPC=7.0 ;REDUZIERFAKTOR FUER BAHN-UND ORIENTIERUNGSBESCHLEUNIGUNGEN BEI KARTESISCHEM HANDVERFAHREN UND KOMMANDOBETRIEB [CP] [%]
REAL $VEL_CP_T1=0.100000001 ;BAHNGESCHWINDIGKEIT IN T1 [M/S] MAX: 0.25
REAL $SPEED_LIMIT_TEACH_MODE=0.25 ;REDUZIERUNG DER TCP- UND FLANSCHGESCHWINDIGKEIT IN [M/S] MAX: 0.25
REAL $RED_JUS_UEB=100.0 ;REDUZIERFAKTOR FUER UEBERNAHMEFAHRT [%]
INT $RED_ACC_OV[12] ;AXIALE REDUZIERUNG DER BESCHLEUNIGUNG FUER OVERRIDE ACHSE[I] (I=1:A1,I=7:E1) [%]
$RED_ACC_OV[1]=100
$RED_ACC_OV[2]=100
$RED_ACC_OV[3]=100
$RED_ACC_OV[4]=100
$RED_ACC_OV[5]=100
$RED_ACC_OV[6]=100
$RED_ACC_OV[7]=100
$RED_ACC_OV[8]=0
$RED_ACC_OV[9]=0
$RED_ACC_OV[10]=0
$RED_ACC_OV[11]=0
$RED_ACC_OV[12]=0
FRAME $ACC_CAR_TOOL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME (ACCORDING TO FLANGE) FOR CARTESIAN ACCELERATION MONITORING
DECL ACC_CAR $ACC_CAR_LIMIT={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,ABS 0.0} ;LIMITS FOR THE CARTESIAN ACCELERATION $ACC_CAR_ACT
REAL $RDC2_PHASE_SHIFT_1=0.0 ; Phasenverschiebung der 1. RDW in Grad (-60 - +60)
REAL $RDC2_PHASE_SHIFT_2=0.0 ; Phasenverschiebung der 2. RDW in Grad (-60 - +60)
BOOL $ACC_CAR_STOP=FALSE ;ENABLE (TRUE) OR DISABLE (FALSE) CARTESIAN ACCELERATION MONITORING
INT $RED_ACC_EMX[12] ;REDUZIERFAKTOR FUER BAHNTREUE NOT-AUS-RAMPE [ % ]
$RED_ACC_EMX[1]=120
$RED_ACC_EMX[2]=150
$RED_ACC_EMX[3]=180
$RED_ACC_EMX[4]=250
$RED_ACC_EMX[5]=250
$RED_ACC_EMX[6]=250
$RED_ACC_EMX[7]=100
$RED_ACC_EMX[8]=100
$RED_ACC_EMX[9]=100
$RED_ACC_EMX[10]=100
$RED_ACC_EMX[11]=100
$RED_ACC_EMX[12]=100
BOOL $WARMUP_RED_VEL=FALSE ;WARMFAHR-FUNKTIONALITAET EINGESCHALTET
REAL $WARMUP_TIME=30.0 ;[MIN]
REAL $COOLDOWN_TIME=360.0 ;NACH DIESER ZEIT IM STILLSTAND [MIN] WIRD DER ROBOTER ALS KALT BETRACHTET
INT $WARMUP_CURR_LIMIT=99 ;[%] DES MAXIMAL STROM
INT $WARMUP_MIN_FAC=60 ;[%]
REAL $WARMUP_SLEW_RATE=5.0 ;[%/sec]
REAL $ST_TOL_VEL[12] ;GESCHWINDIGKEITSTOLERANZ FUER STILLSTANDSERKENNUNG ACHSE[I] (I=1:A1,I=7:E1) [U_MOT/MIN]
$ST_TOL_VEL[1]=15.0
$ST_TOL_VEL[2]=15.0
$ST_TOL_VEL[3]=15.0
$ST_TOL_VEL[4]=15.0
$ST_TOL_VEL[5]=15.0
$ST_TOL_VEL[6]=15.0
$ST_TOL_VEL[7]=15.0
$ST_TOL_VEL[8]=15.0
$ST_TOL_VEL[9]=15.0
$ST_TOL_VEL[10]=15.0
$ST_TOL_VEL[11]=15.0
$ST_TOL_VEL[12]=15.0
INT $ST_TOL_TIME=200 ;ERKENNUNGSZEIT [MS]
INT $BOUNCE_TIME=168 ;PRELLZEIT EMT-TASTER [MS]
REAL $VEL_AX_JUS[12] ;GESCHWINDIGKEIT BEI EMT-JUSTAGE ACHSE[I] (I=1:A1,I=7:E1) [GRAD/SEC]
$VEL_AX_JUS[1]=0.0386999995
$VEL_AX_JUS[2]=0.0538000017
$VEL_AX_JUS[3]=0.0559
$VEL_AX_JUS[4]=0.216999993
$VEL_AX_JUS[5]=0.163000003
$VEL_AX_JUS[6]=0.204999998
$VEL_AX_JUS[7]=0.0
$VEL_AX_JUS[8]=0.0
$VEL_AX_JUS[9]=0.0
$VEL_AX_JUS[10]=0.0
$VEL_AX_JUS[11]=0.0
$VEL_AX_JUS[12]=0.0
INT $SEN_DEL[12] ;ZURUECKGELEGTER WEG WAEHREND SIGNALLAUFZEIT IM EMT-TASTER ACHSE[I] (I=1:A1,I=7:E1) [INKR]
$SEN_DEL[1]=0
$SEN_DEL[2]=0
$SEN_DEL[3]=0
$SEN_DEL[4]=0
$SEN_DEL[5]=0
$SEN_DEL[6]=0
$SEN_DEL[7]=0
$SEN_DEL[8]=0
$SEN_DEL[9]=0
$SEN_DEL[10]=0
$SEN_DEL[11]=0
$SEN_DEL[12]=0
REAL $L_EMT_MAX[12] ;LAENGE JUSTAGE-WEG EMT ACHSE[I] (I=1:A1,I=7:E1) [GRAD]
$L_EMT_MAX[1]=1.60000002
$L_EMT_MAX[2]=1.60000002
$L_EMT_MAX[3]=1.60000002
$L_EMT_MAX[4]=8.0
$L_EMT_MAX[5]=8.0
$L_EMT_MAX[6]=6.4000001
$L_EMT_MAX[7]=0.0
$L_EMT_MAX[8]=0.0
$L_EMT_MAX[9]=0.0
$L_EMT_MAX[10]=0.0
$L_EMT_MAX[11]=0.0
$L_EMT_MAX[12]=0.0
REAL $G_VEL_CAL[12] ;GESCHWINDIGKEITS-FAKTOR FUER DREHZAHLREGLERVERSTAERKUNG
$G_VEL_CAL[1]=0.0
$G_VEL_CAL[2]=0.0
$G_VEL_CAL[3]=0.0
$G_VEL_CAL[4]=0.0
$G_VEL_CAL[5]=0.0
$G_VEL_CAL[6]=0.0
$G_VEL_CAL[7]=0.0
$G_VEL_CAL[8]=0.0
$G_VEL_CAL[9]=0.0
$G_VEL_CAL[10]=0.0
$G_VEL_CAL[11]=0.0
$G_VEL_CAL[12]=0.0
REAL $LG_PTP[12] ;KV-FAKTOR PTP ACHSE[I] (I=1:A1,I=7:E1) [1/MS]
$LG_PTP[1]=0.699999988
$LG_PTP[2]=0.720000029
$LG_PTP[3]=0.680000007
$LG_PTP[4]=0.400000006
$LG_PTP[5]=0.400000006
$LG_PTP[6]=0.400000006
$LG_PTP[7]=0.5
$LG_PTP[8]=0.0
$LG_PTP[9]=0.0
$LG_PTP[10]=0.0
$LG_PTP[11]=0.0
$LG_PTP[12]=0.0
REAL $LG_CP[12] ;KV-FAKTOR BAHN-FAHREN [1/MS]
$LG_CP[1]=0.419999987
$LG_CP[2]=0.699999988
$LG_CP[3]=0.419999987
$LG_CP[4]=0.300000012
$LG_CP[5]=0.300000012
$LG_CP[6]=0.300000012
$LG_CP[7]=0.300000012
$LG_CP[8]=0.0
$LG_CP[9]=0.0
$LG_CP[10]=0.0
$LG_CP[11]=0.0
$LG_CP[12]=0.0
REAL $I_LG_PTP[12] ;INTEGRAL-FAKTOR DES LAGEREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$I_LG_PTP[1]=0.0
$I_LG_PTP[2]=0.0
$I_LG_PTP[3]=0.0
$I_LG_PTP[4]=0.0
$I_LG_PTP[5]=0.0
$I_LG_PTP[6]=0.0
$I_LG_PTP[7]=0.0
$I_LG_PTP[8]=0.0
$I_LG_PTP[9]=0.0
$I_LG_PTP[10]=0.0
$I_LG_PTP[11]=0.0
$I_LG_PTP[12]=0.0
REAL $I_LG_CP[12] ;INTEGRAL-FAKTOR DES LAGEREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$I_LG_CP[1]=0.0
$I_LG_CP[2]=0.0
$I_LG_CP[3]=0.0
$I_LG_CP[4]=0.0
$I_LG_CP[5]=0.0
$I_LG_CP[6]=0.0
$I_LG_CP[7]=0.0
$I_LG_CP[8]=0.0
$I_LG_CP[9]=0.0
$I_LG_CP[10]=0.0
$I_LG_CP[11]=0.0
$I_LG_CP[12]=0.0
REAL $TC_SYM=0.100000001 ;ZEITKONST. SYMMETRIERFILTER
REAL $DECEL_MB[12] ;BREMSRAMPE BEI GENERATOR. STOP [MS]
$DECEL_MB[1]=882.099976
$DECEL_MB[2]=556.900024
$DECEL_MB[3]=296.299988
$DECEL_MB[4]=200.0
$DECEL_MB[5]=180.0
$DECEL_MB[6]=307.5
$DECEL_MB[7]=1000.0
$DECEL_MB[8]=0.0
$DECEL_MB[9]=0.0
$DECEL_MB[10]=0.0
$DECEL_MB[11]=0.0
$DECEL_MB[12]=0.0
INT $G_COE_CUR[12] ;P-VERSTAERKUNG DES STROMREGLERS ACHSE[I] (I=1:A1,I=7:E1)
$G_COE_CUR[1]=15
$G_COE_CUR[2]=15
$G_COE_CUR[3]=15
$G_COE_CUR[4]=15
$G_COE_CUR[5]=15
$G_COE_CUR[6]=15
$G_COE_CUR[7]=85
$G_COE_CUR[8]=85
$G_COE_CUR[9]=85
$G_COE_CUR[10]=85
$G_COE_CUR[11]=85
$G_COE_CUR[12]=85
REAL $G_VEL_PTP[12] ;VN-FAKTOR DES DREHZAHLREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$G_VEL_PTP[1]=65.0
$G_VEL_PTP[2]=50.0
$G_VEL_PTP[3]=60.0
$G_VEL_PTP[4]=40.0
$G_VEL_PTP[5]=40.0
$G_VEL_PTP[6]=25.0
$G_VEL_PTP[7]=80.0
$G_VEL_PTP[8]=0.0
$G_VEL_PTP[9]=0.0
$G_VEL_PTP[10]=0.0
$G_VEL_PTP[11]=0.0
$G_VEL_PTP[12]=0.0
REAL $G_VEL_CP[12] ;VN-FAKTOR DES DREHZAHLREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$G_VEL_CP[1]=52.0
$G_VEL_CP[2]=80.0
$G_VEL_CP[3]=32.0
$G_VEL_CP[4]=45.0
$G_VEL_CP[5]=45.0
$G_VEL_CP[6]=30.0
$G_VEL_CP[7]=80.0
$G_VEL_CP[8]=0.0
$G_VEL_CP[9]=0.0
$G_VEL_CP[10]=0.0
$G_VEL_CP[11]=0.0
$G_VEL_CP[12]=0.0
REAL $I_VEL_PTP[12] ;INTEGRAL-FAKTOR DES DREHZAHLREGLERS PTP ACHSE[I] (I=1:A1,I=7:E1)
$I_VEL_PTP[1]=900.0
$I_VEL_PTP[2]=800.0
$I_VEL_PTP[3]=800.0
$I_VEL_PTP[4]=200.0
$I_VEL_PTP[5]=200.0
$I_VEL_PTP[6]=200.0
$I_VEL_PTP[7]=500.0
$I_VEL_PTP[8]=0.0
$I_VEL_PTP[9]=0.0
$I_VEL_PTP[10]=0.0
$I_VEL_PTP[11]=0.0
$I_VEL_PTP[12]=0.0
REAL $I_VEL_CP[12] ;INTEGRAL-FAKTOR DES DREHZAHLREGLERS CP ACHSE[I] (I=1:A1,I=7:E1)
$I_VEL_CP[1]=575.0
$I_VEL_CP[2]=935.0
$I_VEL_CP[3]=550.0
$I_VEL_CP[4]=100.0
$I_VEL_CP[5]=100.0
$I_VEL_CP[6]=100.0
$I_VEL_CP[7]=500.0
$I_VEL_CP[8]=0.0
$I_VEL_CP[9]=0.0
$I_VEL_CP[10]=0.0
$I_VEL_CP[11]=0.0
$I_VEL_CP[12]=0.0
REAL $VEL_FILT[12] ;TACHO FILTER ACHSE [I] [MS]; VARIABLE HAT AB V5 MIT DSE_C33 KEINEN EINFLUSS!
$VEL_FILT[1]=2.5
$VEL_FILT[2]=2.5
$VEL_FILT[3]=2.5
$VEL_FILT[4]=2.5
$VEL_FILT[5]=2.5
$VEL_FILT[6]=2.5
$VEL_FILT[7]=2.5
$VEL_FILT[8]=2.5
$VEL_FILT[9]=2.5
$VEL_FILT[10]=2.5
$VEL_FILT[11]=2.5
$VEL_FILT[12]=2.5
INT $TM_CON_VEL=0 ;MINIMALE KONSTANTFAHRPHASE [MS]
REAL $APO_DIS_PTP[12] ;MAXIMALER UEBERSCHLEIFWEG PTP ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$APO_DIS_PTP[1]=90.0
$APO_DIS_PTP[2]=90.0
$APO_DIS_PTP[3]=90.0
$APO_DIS_PTP[4]=90.0
$APO_DIS_PTP[5]=90.0
$APO_DIS_PTP[6]=90.0
$APO_DIS_PTP[7]=90.0
$APO_DIS_PTP[8]=0.0
$APO_DIS_PTP[9]=0.0
$APO_DIS_PTP[10]=0.0
$APO_DIS_PTP[11]=0.0
$APO_DIS_PTP[12]=0.0
DECL CP $ACC_MA={CP 10.0,ORI1 1000.0,ORI2 1000.0} ;CP = MAX. BAHNBESCHLEUNIGUNG [M/SEC2], ORI1 = MAX. SCHWENKBESCHLEUNIGUNG     [GRAD/SEC2], ORI2 = MAX. DREHBESCHLEUNIGUNG [GRAD/SEC2]
DECL JERK_STRUC $JERK_MA={CP 500.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4 1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4 1000.0,E5 1000.0,E6 1000.0}} ;Maximaler Ruck CP: [m/s^3], ORI: [deg/^3], AX: [deg/s^3] (rotatorisch) bzw. [m/s^3] (linear)
DECL CP $VEL_MA={CP 3.0,ORI1 400.0,ORI2 400.0} ;CP = MAX. BAHNGESCHWINDIGKEIT [M/SEC], ORI1 = MAX. SCHWENKGESCHWINDIGKEIT    [GRAD/SEC], ORI2 = MAX. DREHGESCHWINDIGKEIT [GRAD/SEC]
DECL CP $ACC_OV={CP 4.5999999,ORI1 200.0,ORI2 200.0} ;CP = BAHNBESCHL. BEI OV.-AEND. [M/SEC2], ORI1 = SCHWENKBESCHL. BEI OV.-AEND.  [GRAD/SEC2], ORI2 = DREHBESCHL. BEI OV.-AEND. [GRAD/SEC2]
INT $RED_T1=7 ;REDUKTIONSFAKTOR T1 [%] MAX: 15%
INT $DEF_FLT_PTP=228 ;DEFAULTFILTER PTP
INT $DEF_FLT_CP=180 ;DEFAULTFILTER CP
INT $DEF_OV_JOG=10 ;VORBESETZUNG FUER OVERRIDE
DECL SW_ONOFF $ANA_DEL_FLT=#OFF ;LR_VERZ. IN ANAOUT DELAY
INT $SEQ_CAL[12] ;REFERIER-REIHENFOLGE DER ACHSEN SCHRITT[I]
$SEQ_CAL[1]='B0001'
$SEQ_CAL[2]='B0010'
$SEQ_CAL[3]='B0100'
$SEQ_CAL[4]='B1000'
$SEQ_CAL[5]='B00010000'
$SEQ_CAL[6]='B00100000'
$SEQ_CAL[7]='B01000000'
$SEQ_CAL[8]='B10000000'
$SEQ_CAL[9]='B000100000000'
$SEQ_CAL[10]='B001000000000'
$SEQ_CAL[11]='B010000000000'
$SEQ_CAL[12]='B100000000000'
INT $DIR_CAL='B000111111111' ;REFERIER-RICHTUNG
INT $RED_CAL_SD=5 ;REDUKTIONSFAKTOR NACH ERREICHEN DES NOCKENS [%]
INT $RED_CAL_SF=20 ;REDUKTIONSFAKTOR VOR ERREICHEN DES NOCKENS [%]
INT $BRK_MODE='B1101' ;BREMSENSTEUERUNGS-MODUS
INT $BRK_OPENTM=56 ;BREMSOEFFNUNGSZEIT [MS]
INT $BRK_DEL_COM=10000 ;BREMSVERZOEGERUNGSZEIT  KOMMANDO-MODUS [MS]
INT $BRK_DEL_PRO=20000 ;BREMSVERZOEGERUNGSZEIT IM PROGRAMM [MS]
INT $BRK_DEL_EX=200 ;BREMSVERZOEGERUNGSZEIT FUER ZUSATZACHSEN
INT $SERV_OFF_TM[12] ;REGLERSPERRZEIT ACHSE[I] (I=1:A1,I=7:E1)
$SERV_OFF_TM[1]=84
$SERV_OFF_TM[2]=84
$SERV_OFF_TM[3]=84
$SERV_OFF_TM[4]=84
$SERV_OFF_TM[5]=84
$SERV_OFF_TM[6]=84
$SERV_OFF_TM[7]=84
$SERV_OFF_TM[8]=84
$SERV_OFF_TM[9]=84
$SERV_OFF_TM[10]=84
$SERV_OFF_TM[11]=84
$SERV_OFF_TM[12]=84
INT $MS_DA[12] ;INAKTIVE LAGEREGELUEBERWACHUNG ACHSE[I] (I=1:A1,I=7:E1)
$MS_DA[1]='B0000'
$MS_DA[2]='B0000'
$MS_DA[3]='B0000'
$MS_DA[4]='B0000'
$MS_DA[5]='B0000'
$MS_DA[6]='B0000'
$MS_DA[7]='B0000'
$MS_DA[8]='B0000'
$MS_DA[9]='B0000'
$MS_DA[10]='B0000'
$MS_DA[11]='B0000'
$MS_DA[12]='B0000'
INT $FFC_VEL='B111111111111' ;GESCHWINDIKEITSVORSTEURUNG EIN/AUS
BOOL $FFC_TORQ=TRUE ;MOMENTENVORSTEUERUNG EIN/AUS
INT $FFC_TORQ_AXIS='B00111111' ;MOMENTENVORSTEUERUNG ACHSWEISE
BOOL $GEARTORQ_MON=TRUE ;GETRIEBEMOMENTENUEBERWACHUNG EIN/AUS
INT $SERVOMODE[12] ;STEUERUNGSFUNKTIONALITAETEN
$SERVOMODE[1]='B0000'
$SERVOMODE[2]='B0000'
$SERVOMODE[3]='B0000'
$SERVOMODE[4]='B0000'
$SERVOMODE[5]='B0000'
$SERVOMODE[6]='B0000'
$SERVOMODE[7]='B0000'
$SERVOMODE[8]='B0000'
$SERVOMODE[9]='B0000'
$SERVOMODE[10]='B0000'
$SERVOMODE[11]='B0000'
$SERVOMODE[12]='B0000'
INT $ACC_ACT_MA=250 ;GRENZWERT SOLLBESCHLEUNIGUNG [%]
INT $VEL_ACT_MA=110 ;GRENZWERT SOLLGESCHWINDIGKEIT [%]
INT $ILLEGAL_SPEED=200 ; GRENZWERT GESCHWINDIGKEIT VOR FILTER [%]
BOOL $MONITOR_ILLEGAL_SPEED=TRUE ; GESCHWINDIGKEITSUEBERWACHUNG VOR FILTER
REAL $IN_POS_CAR=0.100000001 ;KARTESISCHES POSITIONIERFENSTER (TRANSLATIONSSTEIL) [MM]
REAL $IN_POS_ORI=0.100000001 ;KARTESISCHES POSITIONIERFENSTER (ORIENTIERUNGSTEIL) [DEG]
REAL $IN_POS_MA[12] ;POSITIONIERFENSTER ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$IN_POS_MA[1]=0.100000001
$IN_POS_MA[2]=0.100000001
$IN_POS_MA[3]=0.100000001
$IN_POS_MA[4]=0.100000001
$IN_POS_MA[5]=0.100000001
$IN_POS_MA[6]=0.100000001
$IN_POS_MA[7]=0.100000001
$IN_POS_MA[8]=0.0
$IN_POS_MA[9]=0.0
$IN_POS_MA[10]=0.0
$IN_POS_MA[11]=0.0
$IN_POS_MA[12]=0.0
INT $TIME_POS[12] ;POSITIONIERZEIT ACHSE[I] (I=1:A1,I=7:E1)
$TIME_POS[1]=512
$TIME_POS[2]=512
$TIME_POS[3]=512
$TIME_POS[4]=512
$TIME_POS[5]=512
$TIME_POS[6]=512
$TIME_POS[7]=512
$TIME_POS[8]=512
$TIME_POS[9]=512
$TIME_POS[10]=512
$TIME_POS[11]=512
$TIME_POS[12]=512
INT $IN_STILL_MA=4 ;FAKTOR FUER STILLSTANDSFENSTER
REAL $FOL_ERR_MA[12] ;FAKTOR FUER SCHLEPPFEHLERUEBERWACHUNG
$FOL_ERR_MA[1]=20.0
$FOL_ERR_MA[2]=20.0
$FOL_ERR_MA[3]=20.0
$FOL_ERR_MA[4]=20.0
$FOL_ERR_MA[5]=20.0
$FOL_ERR_MA[6]=20.0
$FOL_ERR_MA[7]=20.0
$FOL_ERR_MA[8]=20.0
$FOL_ERR_MA[9]=20.0
$FOL_ERR_MA[10]=20.0
$FOL_ERR_MA[11]=20.0
$FOL_ERR_MA[12]=20.0
INT $VEL_ENC_CO=50
REAL $COM_VAL_MI[12] ;SOLLDREHZAHLBEGRENZUNG ACHSE[I] (I=1:A1,I=7:E1) [%]
$COM_VAL_MI[1]=150.0
$COM_VAL_MI[2]=150.0
$COM_VAL_MI[3]=150.0
$COM_VAL_MI[4]=150.0
$COM_VAL_MI[5]=150.0
$COM_VAL_MI[6]=150.0
$COM_VAL_MI[7]=150.0
$COM_VAL_MI[8]=150.0
$COM_VAL_MI[9]=150.0
$COM_VAL_MI[10]=150.0
$COM_VAL_MI[11]=150.0
$COM_VAL_MI[12]=150.0
INT $TL_COM_VAL=50
INT $TOUCH_VEL=50 ;MAXIMALE RUECKZUGSGESCHW. F. TOUCHSENSOR IN %
INT $TOUCH_ACC=50 ;RUECKZUGSBESCHL. F. TOUCHSENSOR IN %
INT $TOUCH_SVEL=0 ;STARTGESCHW. BEIM TOUCH IN % DER SUCHGESCHW.
REAL $SOFTN_END[12] ;SOFTWARE-ENDSCHALTER NEGATIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$SOFTN_END[1]=-185.0
$SOFTN_END[2]=-142.0
$SOFTN_END[3]=-120.0
$SOFTN_END[4]=-350.0
$SOFTN_END[5]=-120.0
$SOFTN_END[6]=-350.0
$SOFTN_END[7]=-180.0
$SOFTN_END[8]=0.0
$SOFTN_END[9]=0.0
$SOFTN_END[10]=0.0
$SOFTN_END[11]=0.0
$SOFTN_END[12]=0.0
REAL $SOFTP_END[12] ;SOFTWARE-ENDSCHALTER POSITIV ACHSE[I] (I=1:A1,I=7:E1) [MM,GRAD]
$SOFTP_END[1]=185.0
$SOFTP_END[2]=0.0
$SOFTP_END[3]=148.0
$SOFTP_END[4]=350.0
$SOFTP_END[5]=120.0
$SOFTP_END[6]=350.0
$SOFTP_END[7]=180.0
$SOFTP_END[8]=0.0
$SOFTP_END[9]=0.0
$SOFTP_END[10]=0.0
$SOFTP_END[11]=0.0
$SOFTP_END[12]=0.0
DECL AXBOX $AXWORKSPACE[8] ;ACHSSPEZ. ARBEITSRAEUME
$AXWORKSPACE[1]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[2]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[3]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[4]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[5]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[6]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[7]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
$AXWORKSPACE[8]={A1_N 0.0,A1_P 0.0,A2_N 0.0,A2_P 0.0,A3_N 0.0,A3_P 0.0,A4_N 0.0,A4_P 0.0,A5_N 0.0,A5_P 0.0,A6_N 0.0,A6_P 0.0,E1_N 0.0,E1_P 0.0,E2_N 0.0,E2_P 0.0,E3_N 0.0,E3_P 0.0,E4_N 0.0,E4_P 0.0,E5_N 0.0,E5_P 0.0,E6_N 0.0,E6_P 0.0,MODE #OFF}
CHAR $AXWORKSPACE_NAME1[24]
$AXWORKSPACE_NAME1[]="AXWORKSPACE_NAME 1"
CHAR $AXWORKSPACE_NAME2[24]
$AXWORKSPACE_NAME2[]="AXWORKSPACE_NAME 2"
CHAR $AXWORKSPACE_NAME3[24]
$AXWORKSPACE_NAME3[]="AXWORKSPACE_NAME 3"
CHAR $AXWORKSPACE_NAME4[24]
$AXWORKSPACE_NAME4[]="AXWORKSPACE_NAME 4"
CHAR $AXWORKSPACE_NAME5[24]
$AXWORKSPACE_NAME5[]="AXWORKSPACE_NAME 5"
CHAR $AXWORKSPACE_NAME6[24]
$AXWORKSPACE_NAME6[]="AXWORKSPACE_NAME 6"
CHAR $AXWORKSPACE_NAME7[24]
$AXWORKSPACE_NAME7[]="AXWORKSPACE_NAME 7"
CHAR $AXWORKSPACE_NAME8[24]
$AXWORKSPACE_NAME8[]="AXWORKSPACE_NAME 8"
INT $BRK_MAX_TM=1000 ;MAX. BREMSZEIT [MS]
INT $EMSTOP_TIME=100 ;ZEITUEBERWACHUNG FUER NOT_STOP [MS]
INT $ACT_VAL_DIF=6 ;GEBERISTWERTDIFFERENZ [INKR]
CHAR $TRAFONAME[32] ;NAME DER KOORDINATENTRANSFORMATION
$TRAFONAME[]="#KR200L170_CPT S C2 FLR ZH04" ;MAXIMAL 32 ZEICHEN
DECL KINCLASS $KINCLASS=#STANDARD ;KINEMATIKKLASSEN (STANDARD,SPECIAL,TEST,NONE)
INT $AX_SIM_ON='B0000' ;ACHSSIMULATION
INT $SIMULATED_AXIS='B0000' ;Simulation von Roboterachsen
INT $ACTIVE_AXIS_MASK='B00111111' ;Aktive Verfahrtasten, achsspez.
INT $ACTIVE_KAR_MASK='B00111111' ;Aktive Verfahrtasten, kartesisch
INT $TRAFO_AXIS=6 ;ANZAHL DER TRANSFORMIERTEN ACHSEN
DECL MAIN_AXIS $MAIN_AXIS=#NR ;GRUNDACHSENKENNUNG (SS = PORTAL, CC = SCARA, NR = GELENKROBOTER)
DECL WRIST_AXIS $WRIST_AXIS=#ZEH ;HANDACHSENKENNUNG (NOH = KEINE HAND, ZEH = ZENTRALHAND, SRH = SCHRAEGHAND    DSH = DOPPELSCHRAEGHAND, WIH = WINKELHAND, WSH = WINKELSCHRAEGHAND
INT $A4PAR=0 ;0=ACHSE 4 NICHT PARALLEL, 1=ACHSE 4 PARALLEL ZUR LETZEN ROTATORISCHEN GRUNDACHSE, 2=SONDERKINEMATIK: ACHSE 4 IMMER PARALLEL ZUR Z-IRO ACHSE
BOOL $DEF_A4FIX=FALSE ;ACHSE 4 FIXIERT
BOOL $DEF_A5LINK=FALSE ;4-ACHS-PALETTIERER ( A4=0 GRAD; A5 WIRD UEBER PARALLELOGRAMM GEFUEHRT )
INT $SPINDLE=0 ;SPINDELN (0 = NEIN, 1 = JA)
INT $AXIS_SEQ[6] ;UMORDNUNG VON ACHSE[I] (I=1:A1,I=7:E1)
$AXIS_SEQ[1]=1
$AXIS_SEQ[2]=2
$AXIS_SEQ[3]=3
$AXIS_SEQ[4]=4
$AXIS_SEQ[5]=5
$AXIS_SEQ[6]=6
INT $AXIS_DIR[12] ;DREHRICHTUNG DER ACHSE[I] (I=1:A1,I=7:E1)
$AXIS_DIR[1]=-1
$AXIS_DIR[2]=1
$AXIS_DIR[3]=1
$AXIS_DIR[4]=-1
$AXIS_DIR[5]=-1
$AXIS_DIR[6]=-1
$AXIS_DIR[7]=1
$AXIS_DIR[8]=1
$AXIS_DIR[9]=1
$AXIS_DIR[10]=1
$AXIS_DIR[11]=1
$AXIS_DIR[12]=1
REAL $INC_AXIS[6] ;SCHRITTMASS ACHSSPEZIFISCH
$INC_AXIS[1]=10.0
$INC_AXIS[2]=10.0
$INC_AXIS[3]=10.0
$INC_AXIS[4]=10.0
$INC_AXIS[5]=10.0
$INC_AXIS[6]=10.0
REAL $INC_EXTAX[6] ;SCHRITTMASS ACHSSPEZIFISCH EXTERNE ACHSEN
$INC_EXTAX[1]=10.0
$INC_EXTAX[2]=10.0
$INC_EXTAX[3]=10.0
$INC_EXTAX[4]=10.0
$INC_EXTAX[5]=10.0
$INC_EXTAX[6]=10.0
REAL $INC_CAR[6] ;SCHRITTMASS KARTESISCH WERKZEUGBEZOGEN
$INC_CAR[1]=100.0
$INC_CAR[2]=100.0
$INC_CAR[3]=100.0
$INC_CAR[4]=10.0
$INC_CAR[5]=10.0
$INC_CAR[6]=10.0
INT $POS_SWB[3] ;S-SCHALTBAR
$POS_SWB[1]=0 ;S-SCHALTBAR; UEBERKOPF (O = NEIN, 1 = JA)
$POS_SWB[2]=0 ;S-SCHALTBAR; ACHSE 2-3 (0 = NEIN, 1 = JA)
$POS_SWB[3]=0 ;S-SCHALTBAR; ACHSE 5 (0 = NEIN, 1 = JA)
INT $SINGUL_POS[3] ;BEHANDLUNG UNDEFINIERTER GELENKSTELLUNGEN BEI VORGABE EINES SINGULAEREN      PTP-PUNKTES
$SINGUL_POS[1]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
$SINGUL_POS[2]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
$SINGUL_POS[3]=0 ;BEHANDLUNG EINER UNDEFINIERTER GELENKSTELLUNG (0 = THETA=0,                  1 = THETA=THETA ALT)
REAL $DIS_WRP1=1410.0 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 1
REAL $DIS_WRP2=0.0 ;MITTLERER ABSTAND HANDPUNKT ZUR SINGULARITAET 2
INT $ORI_CHECK=0 ;ORIENTIERUNGSPRUEFUNG AN CP-ENDPUNKTEN (NUR BEIM 5 ACHSER)
FRAME $TIRORO={X 0.0,Y 0.0,Z 750.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN INTERNEN ROBOTERKOORDINATENSYSTEM UND ROBOTERKOORDINATENSYSTEM
FRAME $TFLWP={X 0.0,Y 0.0,Z 210.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN FLANSCH- UND HANDPUNKTKOORDINATENSYSTEM
FRAME $TX3P3={X 1200.0,Y 0.0,Z -45.0,A 0.0,B 90.0,C 0.0} ;ANBRINGUNG DER ROBOTERHAND
REAL $LENGTH_A=350.0 ;GRUNDACHSLAENGE A
REAL $LENGTH_B=1050.0 ;GRUNDACHSLAENGE B
DECL DHART $DH_4={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA 90.0} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
DECL DHART $DH_5={DHART_A 0.0,DHART_D 0.0,DHART_ALPHA -90.0} ;A = LAENGE A, D = LAENGE D, ALPHA = WINKEL ALPHA
DECL SPIN $SPIN_A={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0} ;AXIS = ACHSE,AUF DIE DIE SPINDEL WIRKT, RAD_G = RADIUS G, RAD_H = RADIUS H   SG = VORZEICHEN, BETA = WINKELVERSATZ
DECL SPIN $SPIN_B={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
DECL SPIN $SPIN_C={SPIN_AXIS 0,SPIN_RAD_G 0.0,SPIN_RAD_H 0.0,SPIN_SG 0,SPIN_BETA 0.0}
DECL TRPSPIN $TRP_A={TRPSP_AXIS 0,TRPSP_COP_AX 0,TRPSP_A 0.0,TRPSP_B 0.0,TRPSP_C 0.0,TRPSP_D 0.0} ;AXIS = UEBER TRAPEZ ANGETRIEBENE ACHSE, COP_AXIS = KOPPELNDE ACHSE, A = TRAPEZLAENGE A, B= TRAPEZLAENGE B, C = TRAPEZLAENGE C, D = TRAPEZLAENGE D
REAL $SPC_KIN[30] ;SONDERKINEMATIKEN
$SPC_KIN[1]=0.0 ;A-PARAMETER FUER GRENZEBACHKINEMATIK
$SPC_KIN[2]=0.0 ;D-PARAMETER FUER GRENZEBACHKINEMATIK
$SPC_KIN[3]=0.0
$SPC_KIN[4]=0.0
$SPC_KIN[5]=0.0
$SPC_KIN[6]=0.0
$SPC_KIN[7]=0.0
$SPC_KIN[8]=0.0
$SPC_KIN[9]=0.0
$SPC_KIN[10]=0.0
$SPC_KIN[11]=0.0
$SPC_KIN[12]=0.0
$SPC_KIN[13]=0.0
$SPC_KIN[14]=0.0
$SPC_KIN[15]=0.0
$SPC_KIN[16]=0.0
$SPC_KIN[17]=0.0
$SPC_KIN[18]=0.0
$SPC_KIN[19]=0.0
$SPC_KIN[20]=0.0
$SPC_KIN[21]=0.0
$SPC_KIN[22]=0.0
$SPC_KIN[23]=0.0
$SPC_KIN[24]=0.0
$SPC_KIN[25]=0.0
$SPC_KIN[26]=0.0
$SPC_KIN[27]=0.0
$SPC_KIN[28]=0.0
$SPC_KIN[29]=0.0
$SPC_KIN[30]=0.0
INT $EX_AX_NUM=1 ;ANZAHL EXTERNER ACHSEN (0-6)
INT $EX_AX_ASYNC='B0000' ;EXTERNE ACHSEN ASYNCHRON
INT $ASYNC_T1_FAST='B0000' ;GESCHW.-RED. DEAKTIVIERT ( T1 )
INT $ASYNC_EX_AX_DECOUPLE='B0000' ;BITFELD FUER ABGEKOPPELTE ZUSATZACHSEN
DECL EX_KIN $EX_KIN={ET1 #EASYS,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
DECL ET_AX $ET1_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET1_NAME[20] ;NAME DER TRANSFORMATION ET1 MAXIMAL 20 ZEICHEN
$ET1_NAME[]="TURNTABLE"
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET1_TPINFL={X 500.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET2_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET2_NAME[20] ;NAME DER TRANSFORMATION ET2 MAX. 20 ZEICHEN
$ET2_NAME[]=" "
FRAME $ET2_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
FRAME $ET2_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET2_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET2_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET2_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET3_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET3_NAME[20] ;NAME DER TRANSFORMATION ET3 MAX. 20 ZEICHEN
$ET3_NAME[]=" "
FRAME $ET3_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET3
FRAME $ET3_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET3_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET3_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET3_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET4_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET4_NAME[20] ;NAME DER TRANSFORMATION ET4 MAX. 20 ZEICHEN
$ET4_NAME[]=" "
FRAME $ET4_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET4
FRAME $ET4_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET4_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET4_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET4_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET5_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET5_NAME[20] ;NAME DER TRANSFORMATION ET5 MAX. 20 ZEICHEN
$ET5_NAME[]=" "
FRAME $ET5_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET5
FRAME $ET5_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET5_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET5_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET5_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET6_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET6_NAME[20] ;NAME DER TRANSFORMATION ET6 MAX. 20 ZEICHEN
$ET6_NAME[]=" "
FRAME $ET6_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET6
FRAME $ET6_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET6_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET6_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN FL UND A3
FRAME $ET6_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
E6AXIS $H_POS={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $AXIS_HOME[5]
$AXIS_HOME[1]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[2]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[3]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[4]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_HOME[5]={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
E6AXIS $H_POS_TOL={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
E6AXIS $H_AXIS_TOL[5] ;TOLERANZFENSTER FUER ERREICHEN DER HOME-STELLUNG $AXIS_HOME[.]
$H_AXIS_TOL[1]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[2]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[3]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[4]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
$H_AXIS_TOL[5]={A1 2.0,A2 2.0,A3 2.0,A4 2.0,A5 2.0,A6 2.0,E1 2.0,E2 2.0,E3 2.0,E4 2.0,E5 2.0,E6 2.0}
BOOL $CABLE2_MON=FALSE ;ANGABE, OB DER ANSCHLUSS DES ZWEITEN MOTORKABELS UEBERPRUEFT WERDEN SOLL (TRUE BEI SONDERMASCHINEN).
DECL REAL $ASR_ERROR[12] ;SCHLUPFGRENZE IN %
$ASR_ERROR[1]=0.0
$ASR_ERROR[2]=0.0
$ASR_ERROR[3]=0.0
$ASR_ERROR[4]=0.0
$ASR_ERROR[5]=0.0
$ASR_ERROR[6]=0.0
$ASR_ERROR[7]=0.0
$ASR_ERROR[8]=0.0
$ASR_ERROR[9]=0.0
$ASR_ERROR[10]=0.0
$ASR_ERROR[11]=0.0
$ASR_ERROR[12]=0.0
DECL FRA $RAT_EXT_ENC[12] ;UEBERSETZUNG SENSORRAD-SENSOR
$RAT_EXT_ENC[1]={N 0,D 1}
$RAT_EXT_ENC[2]={N 0,D 1}
$RAT_EXT_ENC[3]={N 0,D 1}
$RAT_EXT_ENC[4]={N 0,D 1}
$RAT_EXT_ENC[5]={N 0,D 1}
$RAT_EXT_ENC[6]={N 0,D 1}
$RAT_EXT_ENC[7]={N 0,D 1}
$RAT_EXT_ENC[8]={N 0,D 1}
$RAT_EXT_ENC[9]={N 0,D 1}
$RAT_EXT_ENC[10]={N 0,D 1}
$RAT_EXT_ENC[11]={N 0,D 1}
$RAT_EXT_ENC[12]={N 0,D 1}
INT $AX_ENERGY_MAX[12] ;MAX. KINETISCHE ENERGIE DER ACHSE [J]
$AX_ENERGY_MAX[1]=3888
$AX_ENERGY_MAX[2]=4529
$AX_ENERGY_MAX[3]=1692
$AX_ENERGY_MAX[4]=517
$AX_ENERGY_MAX[5]=634
$AX_ENERGY_MAX[6]=890
$AX_ENERGY_MAX[7]=3005
$AX_ENERGY_MAX[8]=3680
$AX_ENERGY_MAX[9]=3680
$AX_ENERGY_MAX[10]=3680
$AX_ENERGY_MAX[11]=3680
$AX_ENERGY_MAX[12]=3680
INT $BRK_ENERGY_MAX[12] ;MAX. ZULAESSIGE BREMSENERGIE [J]
$BRK_ENERGY_MAX[1]=6855
$BRK_ENERGY_MAX[2]=7558
$BRK_ENERGY_MAX[3]=7558
$BRK_ENERGY_MAX[4]=1850
$BRK_ENERGY_MAX[5]=1850
$BRK_ENERGY_MAX[6]=1850
$BRK_ENERGY_MAX[7]=7235
$BRK_ENERGY_MAX[8]=4600
$BRK_ENERGY_MAX[9]=4600
$BRK_ENERGY_MAX[10]=4600
$BRK_ENERGY_MAX[11]=4600
$BRK_ENERGY_MAX[12]=4600
REAL $BRK_COOL_OFF_COEFF[12] ;ABKUEHLFAKTOR DER BREMSE [J/S]
$BRK_COOL_OFF_COEFF[1]=38.0
$BRK_COOL_OFF_COEFF[2]=42.0
$BRK_COOL_OFF_COEFF[3]=42.0
$BRK_COOL_OFF_COEFF[4]=30.7999992
$BRK_COOL_OFF_COEFF[5]=30.7999992
$BRK_COOL_OFF_COEFF[6]=30.7999992
$BRK_COOL_OFF_COEFF[7]=40.0
$BRK_COOL_OFF_COEFF[8]=9.19999981
$BRK_COOL_OFF_COEFF[9]=9.19999981
$BRK_COOL_OFF_COEFF[10]=9.19999981
$BRK_COOL_OFF_COEFF[11]=9.19999981
$BRK_COOL_OFF_COEFF[12]=9.19999981
REAL $BRK_TORQUE[12] ;DYNAMISCHES BREMSMOMENT [NM]
$BRK_TORQUE[1]=21.0
$BRK_TORQUE[2]=33.0
$BRK_TORQUE[3]=33.0
$BRK_TORQUE[4]=20.0
$BRK_TORQUE[5]=20.0
$BRK_TORQUE[6]=20.0
$BRK_TORQUE[7]=33.0
$BRK_TORQUE[8]=20.0
$BRK_TORQUE[9]=20.0
$BRK_TORQUE[10]=20.0
$BRK_TORQUE[11]=20.0
$BRK_TORQUE[12]=20.0
DECL REAL $SR_BRK_POLY[8,7] ;KURZSCHLUSSBREMSTABELLE
$SR_BRK_POLY[1,1]=0.0
$SR_BRK_POLY[1,2]=0.0
$SR_BRK_POLY[1,3]=0.0
$SR_BRK_POLY[1,4]=0.0
$SR_BRK_POLY[1,5]=0.0
$SR_BRK_POLY[1,6]=0.0
$SR_BRK_POLY[1,7]=0.0
$SR_BRK_POLY[2,1]=0.0
$SR_BRK_POLY[2,2]=0.0
$SR_BRK_POLY[2,3]=0.0
$SR_BRK_POLY[2,4]=0.0
$SR_BRK_POLY[2,5]=0.0
$SR_BRK_POLY[2,6]=0.0
$SR_BRK_POLY[2,7]=0.0
$SR_BRK_POLY[3,1]=0.0
$SR_BRK_POLY[3,2]=0.0
$SR_BRK_POLY[3,3]=0.0
$SR_BRK_POLY[3,4]=0.0
$SR_BRK_POLY[3,5]=0.0
$SR_BRK_POLY[3,6]=0.0
$SR_BRK_POLY[3,7]=0.0
$SR_BRK_POLY[4,1]=0.0
$SR_BRK_POLY[4,2]=0.0
$SR_BRK_POLY[4,3]=0.0
$SR_BRK_POLY[4,4]=0.0
$SR_BRK_POLY[4,5]=0.0
$SR_BRK_POLY[4,6]=0.0
$SR_BRK_POLY[4,7]=0.0
$SR_BRK_POLY[5,1]=0.0
$SR_BRK_POLY[5,2]=0.0
$SR_BRK_POLY[5,3]=0.0
$SR_BRK_POLY[5,4]=0.0
$SR_BRK_POLY[5,5]=0.0
$SR_BRK_POLY[5,6]=0.0
$SR_BRK_POLY[5,7]=0.0
$SR_BRK_POLY[6,1]=0.0
$SR_BRK_POLY[6,2]=0.0
$SR_BRK_POLY[6,3]=0.0
$SR_BRK_POLY[6,4]=0.0
$SR_BRK_POLY[6,5]=0.0
$SR_BRK_POLY[6,6]=0.0
$SR_BRK_POLY[6,7]=0.0
$SR_BRK_POLY[7,1]=0.0
$SR_BRK_POLY[7,2]=0.0
$SR_BRK_POLY[7,3]=0.0
$SR_BRK_POLY[7,4]=0.0
$SR_BRK_POLY[7,5]=0.0
$SR_BRK_POLY[7,6]=0.0
$SR_BRK_POLY[7,7]=0.0
$SR_BRK_POLY[8,1]=0.0
$SR_BRK_POLY[8,2]=0.0
$SR_BRK_POLY[8,3]=0.0
$SR_BRK_POLY[8,4]=0.0
$SR_BRK_POLY[8,5]=0.0
$SR_BRK_POLY[8,6]=0.0
$SR_BRK_POLY[8,7]=0.0
DECL REAL $SR_CART_BRK_POLY[8,2] ; POLYGONZUG DER MAXIMALEN KARTESISCHEN BREMSWEGE
$SR_CART_BRK_POLY[1,1]=0.0
$SR_CART_BRK_POLY[1,2]=0.0
$SR_CART_BRK_POLY[2,1]=0.0
$SR_CART_BRK_POLY[2,2]=0.0
$SR_CART_BRK_POLY[3,1]=0.0
$SR_CART_BRK_POLY[3,2]=0.0
$SR_CART_BRK_POLY[4,1]=0.0
$SR_CART_BRK_POLY[4,2]=0.0
$SR_CART_BRK_POLY[5,1]=0.0
$SR_CART_BRK_POLY[5,2]=0.0
$SR_CART_BRK_POLY[6,1]=0.0
$SR_CART_BRK_POLY[6,2]=0.0
$SR_CART_BRK_POLY[7,1]=0.0
$SR_CART_BRK_POLY[7,2]=0.0
$SR_CART_BRK_POLY[8,1]=0.0
$SR_CART_BRK_POLY[8,2]=0.0
DECL MAXTOOL $SR_MAX_TOOL={LOAD_CM_R 0.0,LOAD_CM_Z 0.0,LOAD_M 0.0,LOAD_J 0.0,TOOL_R 0.0,TOOL_Z 0.0} ; TOOLGRENZEN FUER GUELTIGKEIT VON $SR_CART_BRK_POLY
DECL REAL $SR_TIME_D=0.0 ;REAKTIONSZEIT DSE-DREHZAHLSTOPP
DECL REAL $SR_TIME_N=0.100000001 ;Sicherheitsfaktor Overrideregelung SafeRobot
REAL $AXIS_JERK[12] ; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=7379.0
$AXIS_JERK[2]=8939.2998
$AXIS_JERK[3]=13490.7998
$AXIS_JERK[4]=20626.5
$AXIS_JERK[5]=23391.8008
$AXIS_JERK[6]=22254.6992
$AXIS_JERK[7]=1.00000002E+20
$AXIS_JERK[8]=1.00000002E+20
$AXIS_JERK[9]=1.00000002E+20
$AXIS_JERK[10]=1.00000002E+20
$AXIS_JERK[11]=1.00000002E+20
$AXIS_JERK[12]=1.00000002E+20
ENDDAT
« Last Edit: April 05, 2019, 09:50:37 AM by cientista »

April 05, 2019, 04:37:30 PM
Reply #22
Offline

SkyeFire

Global Moderator
That's odd.  The Axis Configurator is usually pretty reliable.

The key seems to be the message about $EX_AX_NUM.  It looks fine to me, but the system shouldn't throw that fault without a reason.

About the only idea I have at the moment is to open the new $MACHINE.DAT file on the pendant, and hand-edit the $EX_AX_NUM line -- delete it entirely, then re-type it out, save the file and see what happens. 

If that fails, maybe delete the &REL line (this is very unlikely to do anything, but deleting it should be harmless)

April 05, 2019, 05:29:46 PM
Reply #23
Offline

cientista


Thank you skyefire,

The fault probably is mine, since it is my first time i play with a robot and configuring external axis.

I already try more than 10 times,
remove the rel line,
open and modify machine.dat on pendant,
modify on pc and copy paste,
retype and retype and nothing.

Maybe my original machine.dat is not 100% good ?
The robot work well with 6 axis, i dont know.

I read somewere i cant find again about a file option.dat that is in same dir, but i dont have that file, is needed ?

April 05, 2019, 05:49:56 PM
Reply #24
Offline

cientista


For future read, and for help of anyone that is in need of part numbers to X11 and to add external axis (i made one mistake i dont remember witch one was):

Carcasa de conector TE Connectivity 1-179958-6, Serie Dynamic 5000, paso: 10.16mm, 6 contactos, 1 fila, Recta, Hembra
Código RS 706-4408 Referência do fabricante 1-179958-6 Fabricante TE Connectivity

Carcasa de conector TE Connectivity 2-179958-4, Serie Dynamic 5000, paso: 10.16mm, 4 contactos, 1 fila, Recta, Hembra
Código RS 720-1702 Referência do fabricante 2-179958-4 Fabricante TE Connectivity

Contacto de terminal de crimpado TE Connectivity 316040-3, Dynamic 5000, Hembra, Crimpado, Revestimiento de Oro
Código RS 719-4562 Referência do fabricante 316040-3 Fabricante TE Connectivity

Encastre macho Harting Han DD 108 pines 6 filas, 10A, 250 V, tamaño 24 B
Código RS 238-3329 Referência do fabricante 09161083001 Fabricante Harting

Contacto Harting 09150006104, Macho, Serie Han Contacts, 1 contacto, Han CD, Han Com, Han D, Han DD, Han DDD, Han Q, R15
Código RS 741-7708 Referência do fabricante 09150006104 Fabricante Harting

Conector de alimentación Hembra Recta Harting Han HSB 7 pines 2 filas, 35A, 690 V, tamaño 16 B
Código RS 181-0959 Referência do fabricante 09310062701 Fabricante Harting

Conector industrial de potencia Harting Han B, Montaje de Cable, tamaño 16B
Código RS 175-1272 Referência do fabricante 19300160587 Fabricante HARTING

Carcasa de conector TE Connectivity 1-179958-4, Serie Dynamic 5000, paso: 10.16mm, 4 contactos, 1 fila, Recta, Hembra
Código RS 680-1001 Referência do fabricante 1-179958-4 Fabricante TE Connectivity

Conector industrial de potencia Harting Han B, Montaje de Cable, tamaño 24B
Código RS 175-1278 Referência do fabricante 19300240588 Fabricante HARTING

X17
Carcasa de conector TE Connectivity 350715-1, Serie Universal MATE-N-LOK, paso: 6.35mm, 6 contactos, 2 filas, Recta
Código RS 115-1755 Referência do fabricante 350715-1 Fabricante TE Connectivity

Contacto de terminal de crimpado TE Connectivity 640310-3, Universal MATE-N-LOK, Hembra, Crimpado
Código RS 680-1840 Referência do fabricante 640310-3 Fabricante TE Connectivity

Contacto de terminal de crimpado TE Connectivity 350551-1, Universal MATE-N-LOK, Hembra, Crimpado
Código RS 712-2309 Referência do fabricante 350551-1 Fabricante TE Connectivity

Contacto de terminal de crimpado TE Connectivity 640309-6, Universal MATE-N-LOK, Macho, Crimpado, Revestimiento de Oro
Código RS 718-0724 Referência do fabricante 640309-6 Fabricante TE Connectivity

Carcasa de conector TE Connectivity 1-480698, Serie Universal MATE-N-LOK, paso: 6.35mm, 2 contactos, 1 fila, Recta
Código RS 848-830 Referência do fabricante 1-480698 Fabricante TE Connectivity

Carcasa de conector TE Connectivity 1-480699, Serie Universal MATE-N-LOK, 2 contactos, 1 fila, Recta, Hembra
Código RS 848-919 Referência do fabricante 1-480699 Fabricante TE Connectivity.

X801 devicenet
1757048 -  Pluggable Terminal Block, 5.08 mm, 5 Ways, 24 AWG, 12 AWG, 2.5 mm², Screw
MSTB 2,5/ 5-ST-5,08, GTIN UPC EAN: 4017918029579
Fabricante:   PHOENIX CONTACT
Nº da peça do fabricante:   1757048
Código Farnell   3705389
« Last Edit: April 05, 2019, 06:04:56 PM by cientista »


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