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:
&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:
&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
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Topic: My new used kuka KR200L170 comp (Read 2625 times)
October 17, 2017, 05:21:02 PM