Configuration Files for DC2T EXT Axis

    Hello
    Could you please help me with config files for ext axis?
    So i want to connect DC2T with a drive inverter for one external axis
    And Use measurement system 2 for 2d SMB
    I want to connect only 1 axis first


    And dont quite understand what file should i install
    As I understand - i should install MN1M2D1 (Logic axis 8, meas syst 2, node 1(this means that i should connect resolver to node 1?), Drive System 1 unit position 0 (what does it mean?), node: 2(what does it mean?))


    then i will add parameters of my motor, but is MN1M2D1 right file for my configuration?


    Thank you

    MOC:CFG_1.0:3:0::


    # ./MOC_EXT_MN1M2D1.cfg
    # MN1M2D1
    #
    # created 1998/11/18 16:07:51 by param_db $Revision: 1.2 $



    # MECHANICAL_UNIT - ?
    MECHANICAL_UNIT:
    #
    -name "MN1M2D1" -use_run_enable "" -use_activation_relay "" \
    -use_brake_relay "" -use_single_0 "MN1M2D1" -user_frame_moved_by "" \
    -stand_by_state


    # SINGLE - ?
    SINGLE:
    #
    -name "MN1M2D1" -use_single_type "MN1M2D1" -use_joint "MN1M2D1" \
    -base_frame_pos_x 0 -base_frame_pos_y 0 -base_frame_pos_z 0 \
    -base_frame_orient_u0 1 -base_frame_orient_u1 0 -base_frame_orient_u2 0 \
    -base_frame_orient_u3 0


    # SINGLE_TYPE - ?
    SINGLE_TYPE:
    #
    -name "MN1M2D1" -mechanics "FREE_ROT"


    # JOINT - ?
    JOINT:
    #
    -name "MN1M2D1" -logical_axis 8 -use_measurement_channel "MN1M2D1" \
    -use_axc_filter "MN1M2D1" -use_arm "MN1M2D1" -use_transmission "MN1M2D1" \
    -use_brake "MN1M2D1" -use_supervision "MN1M2D1" -use_drive_system "MN1M2D1" \
    -uncalibrated_control_master_type "UCCM0" \
    -use_uncalibrated_control_master "MN1M2D1" -normal_control_master_type "LCM0" \
    -use_normal_control_master "MN1M2D1"


    # MEASUREMENT_CHANNEL - ?
    MEASUREMENT_CHANNEL:
    #
    -name "MN1M2D1" -use_measurement_board "board_1_m2" -measurement_node 1


    # ARM - ?
    ARM:
    #
    -name "MN1M2D1" -use_arm_type "MN1M2D1" -use_acc_data "MN1M2D1" \
    -upper_joint_bound 3.14 -lower_joint_bound -3.14


    # ARM_TYPE - Type of arm
    ARM_TYPE:
    #
    -name "MN1M2D1"


    # ACC_DATA - ?
    ACC_DATA:
    #
    -name "MN1M2D1" -wc_acc 2.5 -wc_dec 2.5


    # TRANSMISSION - ?
    TRANSMISSION:
    #
    -name "MN1M2D1" -rotating_move -transm_joint 123.456


    # BRAKE - ?
    BRAKE:
    #
    -name "MN1M2D1" -control_off_speed_limit 1 -control_off_delay_time 0.1


    # SUPERVISION - (all parameters on motor side)
    SUPERVISION:
    #
    -name "MN1M2D1" -use_supervision_type "MN1M2D1" -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 \
    -servo_controller_pos_supervision_on


    # SUPERVISION_TYPE - Supervision type (all parameters on motor side)
    SUPERVISION_TYPE:
    #
    -name "MN1M2D1" -static_power_up_position_limit 3 \
    -dynamic_power_up_position_limit 150 -static_position_limit 3 \
    -dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \
    -dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \
    -speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \
    -max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \
    -teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28


    # AXC_FILTER - ?
    AXC_FILTER:
    #
    -name "MN1M2D1" -use_feedback_iir2_filter "LP_248" \
    -use_speed_error_iir2_filter "NOTCH_248" \
    -use_controllable_iir2_filter "VAR_LAG_16_72" \
    -use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25"


    # DRIVE_SYSTEM - ?
    DRIVE_SYSTEM:
    #
    -name "MN1M2D1" -use_current_transfer_function "cur_tr_0.91" \
    -use_mains "mains" -use_trafo "trafo_d1" -use_dc_link "dc_link_d1" \
    -use_drive_unit "MN1M2D1" -use_cable "cable_4.5_30" -use_motor "MN1M2D1" \
    -use_thermal_duty_cycle "MN1M2D1" -use_stress_duty_cycle "MN1M2D1"


    # DRIVE_UNIT - ?
    DRIVE_UNIT:
    #
    -name "MN1M2D1" -use_drive_unit_type "DSQC_358C" \
    -use_current_controller "c_c_slow_1" -use_drive_unit_supervision "d_u_sup" \
    -drive_system 1 -unit_position 0 -node 2 -time_slot 5 -i_max 36.8 \
    -i_thermal 20 -temp_ambient_rise_transistor 2


    # MOTOR - ?
    MOTOR:
    #
    -name "MN1M2D1" -use_motor_type "MN1M2D1" -use_motor_calib "MN1M2D1"


    # MOTOR_TYPE - ?
    MOTOR_TYPE:
    #
    -name "MN1M2D1" -pole_pairs 3 -torque_0 18 -ke 0.51 -i_max 36.8 \
    -r_stator_20 0.125 -l_stator 0.0017


    # MOTOR_CALIB - ?
    MOTOR_CALIB:
    #
    -name "MN1M2D1" -com_offset 1.570796 -valid_com_offset -cal_offset 0


    # THERMAL_DUTY_CYCLE - ?
    THERMAL_DUTY_CYCLE:
    #
    -name "MN1M2D1"


    # STRESS_DUTY_CYCLE - ?
    STRESS_DUTY_CYCLE:
    #
    -name "MN1M2D1" -speed_absolute_max 314.1 -torque_absolute_max 1.5


    # UCCM0 - ?
    UCCM0:
    #
    -name "MN1M2D1" -Kp 10 -Kv 0.2 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \
    -dec_max_n 100


    # LCM0 - ?
    LCM0:
    #
    -name "MN1M2D1" -Kp 10 -Kv 0.2 -Ti 0.1

    And i am a little confused because there are already configuration for motor


    Is it OK if I will rewrite them for another motor (I will connect IRB 2400/16 2d Axis motor.)


    Thank you

    Technically, yes, you can overwrite one motor with data from another.... whether or not that's "OK" remains to be seen...


    While you most likely have to change tuning the initial portion needing changes would be this:





    The challenge with using a motor from a robot axis is that the motor data isn't readily available so it might be a hassle to get it working properly, personally I'd choose to use a MU20 (or MU30 if you need more oomph) instead, but that's me.
    As an example, there was a thread here not too long ago where someome burnt up 2-3 Ax6 motors before eventually going to a different type (think they used a modified Fanuc Motor).

    Thank you for your reply!


    I have changed my dc0 to dc2t and everything is ok


    Now, if I want to connect my motor to dc2t I should know the sequence of the phases ( V, W..) that goes from dc2t to connect the motor correctly
    Does anybody have the schemes of DC2T ( single drive unit output)


    Thank you!

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