hi, is there like a system parameter for the torque limit of each axis? i have the abb s4c 6400 robot, thanks
abb s4c torque parameter help
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lunknowl -
May 15, 2018 at 5:25 PM -
Thread is marked as Resolved.
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Yes, but they're "hidden" / encrypted for the robot axis.
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can you be more detail? where is it? example systemparameter > motion??
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This is a sample configuration from RW 5.15 to give you an idea of the structure of motion parameters.
While S4 is slightly different (less parameters) the torque limitation is still on the motor side and under "motor type"QuoteMOC:CFG_1.0::
# ..\..\..\..\Syspar\EXT_M7L1B1_DM1.cfg
# GENERAL_BASE.SISSINGLE.MEASUREMENT_LINK_1.BOARD_POSITION_1.MEASUREMENT
# _NODE_7.DRIVE_UNIT_7.ROBOT_1.EXTERNAL_RECTIFIER_1
#
# created 2017/08/14 21:45:36 to RW 5.15.9149.15 by param_db Rev. 1.6MECHANICAL_UNIT:
-name "M7DM1" -use_run_enable "" -use_activation_relay "" -use_brake_relay "" \
-use_single_0 "M7DM1" -stand_by_stateSINGLE:
-name "M7DM1" -use_single_type "M7DM1" -use_joint "M7DM1" -base_frame_pos_x 0 \
-base_frame_pos_y 0 -base_frame_pos_z 0 -base_frame_orient_u0 1 \
-base_frame_orient_u1 0 -base_frame_orient_u2 0 -base_frame_orient_u3 0SINGLE_TYPE:
-name "M7DM1" -mechanics "FREE_ROT" -use_sis "M7DM1"
JOINT:
-name "M7DM1" -logical_axis 7 -use_measurement_channel "M7DM1" \
-use_axc_filter "M7DM1" -use_arm "M7DM1" -use_transmission "M7DM1" \
-use_brake "M7DM1" -use_supervision "M7DM1" -use_drive_system "M7DM1" \
-drive_module 1 -use_drive_module "drive_module_1" \
-uncalibrated_control_master_type "UCCM0" \
-use_uncalibrated_control_master "M7DM1" -normal_control_master_type "LCM0" \
-use_normal_control_master "M7DM1"MEASUREMENT_CHANNEL:
-name "M7DM1" -use_measurement_board_type "DSQC313" -measurement_link 1 \
-board_position 1 -measurement_node 7ARM:
-name "M7DM1" -use_arm_type "M7DM1" -use_acc_data "M7DM1" \
-upper_joint_bound 3.14 -lower_joint_bound -3.14ARM_TYPE:
-name "M7DM1"
ACC_DATA:
-name "M7DM1" -wc_acc 2.5 -wc_dec 2.5
TRANSMISSION:
-name "M7DM1" -rotating_move -transm_joint 123.456
BRAKE:
-name "M7DM1" -control_off_speed_limit 1 -control_off_delay_time 0.1
SUPERVISION:
-name "M7DM1" -use_supervision_type "M7DM1" -power_up_position_on \
-counter_supervision_on -position_supervision_on -speed_supervision_on \
-load_supervision_on -jam_supervision_on -in_position_range 1 \
-normalized_zero_speed 0.02 -dsp_torque_limitation_zero_speed_width 1 \
-reference_master_pos_supervision_onSUPERVISION_TYPE:
-name "M7DM1" -static_power_up_position_limit 3 \
-dynamic_power_up_position_limit 150 -static_position_limit 3 \
-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \
-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \
-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \
-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28AXC_FILTER:
-name "M7DM1" -use_feedback_iir2_filter "LP_496" \
-use_speed_error_iir2_filter1 "NOTCH_248" \
-use_speed_error_iir2_filter2 "LAG_16_72" -use_force_control_filter "ONE" \
-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25"DRIVE_SYSTEM:
-name "M7DM1" -use_current_transfer_function "cur_tr_1.00" \
-use_current_controller "c_c_slow_1" -use_mains "mains" \
-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M7DM1" \
-use_cable "cable_4.5_30" -use_motor "M7DM1" -use_thermal_duty_cycle "M7DM1" \
-use_stress_duty_cycle "M7DM1"MOTOR:
-name "M7DM1" -use_motor_type "M7DM1" -use_motor_calib "M7DM1"
MOTOR_TYPE:
-name "M7DM1" -pole_pairs 3 -torque_0 18 -ke 0.51 -i_max 36.8 \
-r_stator_20 0.125 -l_stator 0.0017MOTOR_CALIB:
-name "M7DM1" -com_offset 1.570796 -valid_com_offset -cal_offset 0
THERMAL_DUTY_CYCLE:
-name "M7DM1"
STRESS_DUTY_CYCLE:
-name "M7DM1" -speed_absolute_max 314.1 -torque_absolute_max 1.5
UCCM0:
-name "M7DM1" -Kp 10 -Kv 0.2 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \
-dec_max_n 100LCM0:
-name "M7DM1" -Kp 10 -Kv 0.2 -Ti 0.1
SIS_SINGLE:
-name "M7DM1" -sis_active -use_sis_param "M7DM1" -gear_factor_1 0 \
-gear_factor_2 0 -gear_factor_3 0 -gear_factor_4 0 -gear_factor_5 0 \
-gear_factor_6 0 -gear_factor_7 0 -gear_factor_8 0 -gear_factor_9 0 \
-motor_factor_1 0 -motor_factor_2 0 -motor_factor_3 0 -motor_factor_4 0 \
-motor_factor_5 0 -motor_heat_transfer_factor 0 \
-gear_power_loss_average_40c 0 -gear_power_loss_average_50c 0 -T_rated 0 \
-C_crit 0 -arm_to_rv_ratio 1SIS_EXTERNAL_SINGLE:
-name "M7DM1" -prod_time_service_interval 20000 \
-calender_time_service_interval 1 -prod_time_warning_level 0 \
-calender_time_warning_level 0 -gear_box_warning_level 100