April 25, 2019, 02:41:21 AM
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 My new used kuka KR200L170 comp

Author Topic:  My new used kuka KR200L170 comp  (Read 2630 times)

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April 06, 2019, 09:24:07 AM
Reply #25
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javaman


I see that you use kr200l170 to cut granite.
I have got a kr180 & kr150 for cutting marble 2-3cm.
Is that payload enough for cutting marble?
How many kw is your cutting motor what rpm and what is cutting disk diameter?

Today at 02:41:21 AM
Reply #26

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April 06, 2019, 09:48:59 AM
Reply #26
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cientista


My motor is 22kw.
625mm diameter cutting disc.
I already cut 10cm in one pass.
My robot is 170kg payload and my notor heiggt is 100kg.
KR200L170 with rotary table Ruckle PKT1200

April 06, 2019, 03:09:10 PM
Reply #27
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javaman


I plan to use 11kw motor with 30cm cutting disk with 11kw inverter for modify rpm.
I think 22kw is too much one gantry cnc cutting machine we have has 15kw and one other has 18.5kw.

What cam that ouputs krl you use for simple cutting operations with disk?

April 08, 2019, 01:54:29 PM
Reply #28
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cientista



That is the milion dollar question.
I only have normal gcode cam, and use russian program to modify the code to krl.

Where are you from ?

April 08, 2019, 03:32:05 PM
Reply #29
Offline

cientista


New DATA....

When i put ex_ax_num to 0, i get strange error.

Error 29 , Drive Bus DSE 1 participant no. 8 not configured.

But i only have the six axis of robot, and i added the 7th servo. not the  8th ... :/

Maybe i connected in 8th place in KPS ?

I connected as show in photo in X17 and brake in pin 3-4 of X12.

try and error:
i already put
$DSECHANNEL[7]=8 instead of $DSECHANNEL[7]=7 and the result is the same.
255 $ex_ax_num invalid value
/R1 machine data loader aborted.

S light not green.
« Last Edit: April 08, 2019, 03:44:38 PM by cientista »

April 08, 2019, 04:14:12 PM
Reply #30
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cientista


Thank you.
Already working.
Reconfigured and lots of try and error and pooof.. !!
Motor rotating.
Now.... mastering all axis and e1.
Beautiful Day =)

April 10, 2019, 04:36:42 PM
Reply #31
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cientista


With the motor loose off the rotary table it works perfectly.

When I mounted the engine on the rotary table two errors appear.

1146 ackn motor blocked E1
3030 target speed monitoring E1

:(

Any sugestions ?

Today at 02:41:21 AM
Reply #32

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April 10, 2019, 05:51:43 PM
Reply #32
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cientista


Aldready changed g vel ptp and g vel cp to 80 40 20 and 5 and same result.

I vel ptp and cp is 500

April 10, 2019, 06:03:17 PM
Reply #33
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cientista


Trying different values for that variables and get another error
1104 Ackn regulator limit exceeded e1

April 10, 2019, 08:37:20 PM
Reply #34
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cientista


I remove the motor and no errror.
Motor turn for one side very well. Stop well.
Turn again another side.
Mounted again and error motor blocked.

April 11, 2019, 06:27:42 PM
Reply #35
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cientista


Hello,
Still with the same problem.
I disasemble the rotary table fuse and without the last skf the table rotatw fine, acelerate and stop very well.
When i put the last skf the table doesnt rotate.
It appears that the motor doesnt have enought force or torque to rotate the table.
Is very strange.
The desmultiplication is enormeous. 420 to one.
I think is enougt.
« Last Edit: April 12, 2019, 03:31:07 PM by panic mode »

April 11, 2019, 06:49:32 PM
Reply #36
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panic mode

Global Moderator
with gear ratio so large, you should be able to remove the motor and drive gearbox with your finger (which is a good test).
are you sure nothing is sticking or touching? i have seen custom positioners where bolt was too long etc
« Last Edit: April 11, 2019, 06:51:03 PM by panic mode »
1) http://www.robot-forum.com/robotforum/kuka-robot-forum/read-first/
2) if you want reply about robot, post it in forum
3) read 1 and 2

April 11, 2019, 07:04:39 PM
Reply #37
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cientista


my worm , ( endless fuse/bolt) is 1.2 meters long and has three bearings.

if I take the last bearing I can spin well. When I put the last bearing I can not. It will force a little to the bronze whell to not have any slack.

the engine is a 0119767 48a ksd48.

supposed to be strong.

when I put the bearing with the table rotating i have no problem.

The problem is to start with the bearing placed. there is no setting to increase initial torque?

April 12, 2019, 03:32:50 PM
Reply #38
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panic mode

Global Moderator
if axis is otherwise operational, it needs tuneup. btw i resized your attached image. please don't post oversized images, trim them down (see READ FIRST).

Today at 02:41:21 AM
Reply #39

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April 12, 2019, 03:47:57 PM
Reply #39
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cientista


 :uglyhammer2:
Sorry, i was using mobile phone and noticed that and i had removed one attachement and tried to reduce the size of another. not so easy on mobile phone. I will try tapatalk next time.

YEs, I already try change all the values of external axis config and no luck.

i changed g vel ptp from 20 to 150. difrent times.
i vel cp from 120 to 800.

I notice that with g vel low values the motor run with noise and when stop the motor continues making noise, i think is no good.

I think g vel cp 100 is good. and i vel cp 500 is good.
I also calibrated the resolution of axis. 90º real motion is 90 in axis monitor.  (420,1)

There is another value i can try  to change ? To try not have the motor blocked error ?

Maybe motor or ksd damaged ?
In KSD48 there are 2 rows of outputs. UVW WVU.
I only connected the left one. is mandatory to connect the two ?
BEacause i only have one cable and the connector in the motor only accept one cable. so to connect the two the only possibility is make a chant / sung.

Thank you in advance... =)
« Last Edit: April 12, 2019, 03:50:30 PM by cientista »

April 12, 2019, 04:02:44 PM
Reply #40
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panic mode

Global Moderator
using only one side is ok for up to 32A. 48 and 64A KSDs require both outputs wired.
tuneup requires use of oscilloscope. guesswork will not do.
maybe compare with MADA of something else that works well and uses large motor to get least initial values right (maybe KL or KP)

April 12, 2019, 09:14:39 PM
Reply #41
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SkyeFire

Global Moderator
SKF?

Your description is unclear.  Was the motor able to turn when the drive shaft was not connected to the rotary table?

Panic is correct, you need to run an O-Scope trace of the motor commanded and actual position, velocity, and current.

April 12, 2019, 09:19:59 PM
Reply #42
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cientista


Skf = bearing
Yess, when the motor is out of shaft it is all ok.


Enviado do meu SM-G930F através do Tapatalk


April 13, 2019, 01:17:14 PM
Reply #43
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javaman


Fist of all verify the brake of servo motor has been released.
It needs about 27V to supplied to brake to release.

After that need pid tuning ( https://en.wikipedia.org/wiki/PID_controller )
but how an oscilloscope will help with tuning?
Needs software that shows commanded position actual position following error etc
to make system critically damped.
One rough approach is to tube servo motor "by ear" by hearing the noise produce..

Also because there is high degree mechanical reduction this must defined somewhere
in kuka software the reducing ratio


« Last Edit: April 14, 2019, 03:59:44 AM by javaman »

April 13, 2019, 01:51:27 PM
Reply #44
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cientista


Hi,
The brake release.
The motor without been connected to rotary table run fine and i already tunned the motor by ear. I noticed the noise with high and low values and put a medium value with no noise.
The osciloscope i already see in kuka menu but i dont try to use either have seen video of that.
I think the problem is the motor doesnt have enought torque to run the rotary table. It is a very big table.

April 13, 2019, 04:34:01 PM
Reply #45
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panic mode

Global Moderator
Oscilloscope is a built into KSS (so called trace tool).
To tune axis one can create program that loops axis between two points. Axis uses two cascaded PI loops. First one need to tune speed controller, then position controller, then measure other parameters like rise time, stop time etc.

Today at 02:41:21 AM
Reply #46

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April 14, 2019, 03:59:30 AM
Reply #46
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javaman



Ok this virtual oscilloscope software i was think real oscilloscope...
Yes if there is this software in kss you must use this.

What power/rpm servo you use for rotary table ?

April 15, 2019, 04:38:55 PM
Reply #47
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SkyeFire

Global Moderator
Have you tried rotating the axis at minimum speed (1%)?

When you try rotating the axis, how long does it take for the error to occur?

What is the $RAT_MOT_AX setting for this axis?

April 17, 2019, 02:07:43 PM
Reply #48
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cientista


Hello again,
Thank you.

The motor that i have chosen is the biggest that i found:
 0000119767   4.2kw

my $RAT_MOT_AX[7]={N 420,D 1} is already calibrated. 90º of real turn is 90º of axis position in controler.

I try at very low speed and very high speed and same result.

When i put the last bearing the error motor blocked is at the same time that i click to move. The motor doens't start to move.

My machine data:
Code: [Select]
&PARAM VERSION = 3.8.3
&REL 21
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 420,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]=1500.0
$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]=60
$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]=60
$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]=60
$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]=0.100000001
$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]=10.0
$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]=0.300000012
$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]=1500.0
$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]=15
$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]=800.0
$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]=800.0
$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='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]=0.100000001
$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]=-185.0
$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]=185.0
$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 #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]=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.E+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

April 17, 2019, 04:19:12 PM
Reply #49
Offline

SkyeFire

Global Moderator
If everything works until the last bearing is installed, that strongly suggests a mechanical binding issue.


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