Track and Rotary Table in One Station

irbcam

I am trying to set up a linear track and a rotary table in the same station. My two CFG files are shown below. The CFG files work fine individually. When I load both CFG files into the same station, it also works, except that only one mechanism is activated. When I try to activate the second mechanism in the FlexPendant (jogging), the first mechanism gets automatically deactivated. I assume this is caused by either the MEASUREMENT_CHANNEL or DRIVE_SYSTEM data being equal in the two CFG files. I have tried to vary the numbers, but no success so far. I would be thankful for any advice.

-GH

 

CFG For rotary table:

MOC:CFG_1.0::

# MOC_FYLM02.cfg
# RTT.WM_RTT_107.SUP_TRACK
# Descr.:RTT 10.7 WM Y IRC5 RW5.05
# created 2004/10/19 14:41:39 by param_db $Revision: 1.2 $

# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "ROT" -use_run_enable "" -use_activation_relay "" -use_brake_relay ""
-use_robot "" -use_single_0 "ROT" -stand_by_state -activate_at_start_up

# SINGLE - ?
SINGLE:
#
-name "ROT" -use_single_type "ROT" -use_joint "LIN8" -base_frame_pos_x 2.0
-base_frame_pos_y 1.5 -base_frame_pos_z 1.0 -base_frame_orient_u0 0.7071068
-base_frame_orient_u1 0 -base_frame_orient_u2 -0.7071068 -base_frame_orient_u3 0

# SINGLE_TYPE - ?
SINGLE_TYPE:
#
-name "ROT" -mechanics "FREE_ROT" -alpha 0

# JOINT - ?
JOINT:
#
-name "LIN8" -logical_axis 11 -use_measurement_channel "ROT"
-use_axc_filter "ROT" -use_arm "ROT" -use_transmission "ROT"
-use_brake "ROT" -use_supervision "ROT" -use_drive_system "LIN8"
-drive_module 1 -use_drive_module "drive_module_1"
-uncalibrated_control_master_type "UCCM0"
-use_uncalibrated_control_master "ROT" -normal_control_master_type "LCM0"
-use_normal_control_master "ROT"

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "ROT" -use_measurement_board_type "DSQC313" -measurement_link 2
-board_position 1 -measurement_node 1

# ARM - ?
ARM:
#
-name "ROT" -use_arm_type "ROT" -use_acc_data "ROTW_M"
-upper_joint_bound 10.701 -lower_joint_bound -0.005
-upper_joint_bound_max 10.705 -lower_joint_bound_min -0.01
-supervision_jam_time_factor 1 -supervision_load_factor 1
-supervision_speed_factor 1 -supervision_pos_factor 1

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

# ACC_DATA - ?
ACC_DATA:
#
-name "ROTW_M" -wc_acc 1.5 -wc_dec 1.6 -wc_dacc_ratio 0.7
-wc_ddec_ratio 0.7
#
-name "ROTW_O" -wc_acc 2.5 -wc_dec 2.6 -wc_dacc_ratio 0.7
-wc_ddec_ratio 0.7

# TRANSMISSION - ?
TRANSMISSION:
#
-name "ROT" -rotating_move -transm_joint 295.6793

# BRAKE - ?
BRAKE:
#
-name "ROT" -control_off_speed_limit 0.02 -control_off_delay_time 0.15
-brake_control_on_delay_time 0.07 -absolute_brake_torque 0.6
-brake_ramp_speed_limit 0.2 -use_brake_type "ROT"

# BRAKE_TYPE - ?
BRAKE_TYPE:
#
-name "ROT" -inertia 0

# SUPERVISION - (all parameters on motor side)
SUPERVISION:
#
-name "ROT" -use_supervision_type "ROT" -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 -joint_affect_forced_Kp -Kp_forced_on_limit 0
-Kp_forced_off_limit 0 -dsp_torque_limitation_zero_speed_width 1

# SUPERVISION_TYPE - Supervision type (all parameters on motor side)
SUPERVISION_TYPE:
#
-name "ROT" -static_power_up_position_limit 3
-dynamic_power_up_position_limit 250 -static_position_limit 3
-dynamic_position_limit 50 -static_normalized_speed_limit 0.06
-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0.2
-speed_half_time 1 -max_jam_normalized_speed 0.05 -max_overload_time 0.6
-max_jam_time 1 -teach_mode_speed_max_main 0.1
-teach_normalized_low_speed 0.25 -teach_mode_speed_max_dsp 0.28

# AXC_FILTER - ?
AXC_FILTER:
#
-name "ROT" -use_feedback_iir2_filter "LP_248"
-use_speed_error_iir2_filter1 "LAG_16_72" -use_speed_error_iir2_filter2 "ONE"
-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25"

# DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "LIN8" -use_current_transfer_function "cur_tr_0.95"
-use_current_controller "c_c_fast_1" -use_mains "mains"
-use_trafo "trafo_dm1" -use_dc_link "dc_link_dm1" -use_drive_unit "M7DM1"
-use_cable "cable_4.5_30" -use_motor "LIN8" -use_thermal_duty_cycle "ROT"
-use_stress_duty_cycle "ROT" -use_gear_box ""

# MOTOR - ?
MOTOR:
#
-name "LIN8" -use_motor_type "505955001RTT" -use_motor_calib "LIN8"
-stator_cooling_factor 1

# MOTOR_CALIB - ?
MOTOR_CALIB:
#
-name "LIN8" -com_offset 1.570796 -valid_com_offset -cal_offset 0

# THERMAL_DUTY_CYCLE - ?
THERMAL_DUTY_CYCLE:
#
-name "ROT" -torque_turbo_acc 10.2 -torque_turbo_dec 9.4
-torque_max_acc 10.2 -torque_max_dec 9.4 -torque_static 3.5
-int_turbo_acc 0.025 -int_turbo_dec 0.025 -int_max_acc 0.025
-int_max_dec 0.025 -speed_turbo 300 -torque_0 0
-torque_current_losses_ratio 1.02

# STRESS_DUTY_CYCLE - ?
STRESS_DUTY_CYCLE:
#
-name "ROT" -torque_turbo_acc 10.2 -torque_turbo_dec 9.4
-torque_max_acc 10.2 -torque_max_dec 9.4 -speed_max 300 -speed_turbo 300
-torque_min 0 -speed_absolute_max 345 -torque_absolute_max 100000

# UCCM0 - ?
UCCM0:
#
-name "ROT" -Kp 5 -Kv 0.986 -Ti 0.1 -Kp_stability 15 -speed_max_n 29.4
-acc_max_n 180 -dec_max_n 180

# LCM0 - ?
LCM0:
#
-name "ROT" -Kp 15 -Kv 0.986 -Ti 0.1 -servo_tune_not_allowed
-notch_filter_frequency 100 -notch_filter_width 0.2
-notch_auto_no_weave_freq 10 -notch_auto_min_frequency 2
-notch_auto_max_rel_change 0.1 -ffw_mode 1 -bandwidth 25
-resonance_frequency 100 -resonance_damping 0.01 -delay_time 0.012 -inertia 0

# MOTOR_TYPE - ?
MOTOR_TYPE:
#
-name "505955001RTT" -pole_pairs 3 -inertia 0.00092 -torque_0 6.7 -ke 0.3695
-ke_temp_coef_20 0.0011 -ke_stability_coef_20 0.01 -ke_tolerance_min -0.05
-ke_tolerance_max 0.05 -ke_red_2i0 0.05 -i_max 38.5
-torque_losses_at_speed1 0.2 -torque_losses_at_speed2 0.3
-torque_losses_at_speed3 0.4 -speed1 15.7 -speed3 345.6 -temp_stator_max 140
-temp_stator_rise 100 -temp_rotor_max 120 -temp_rotor_rise 80
-r_stator_20 0.14 -r_stator_temp_coef_20 0.0039 -l_stator 0.00276

 

 

CGG for linear track:

MOC:CFG_1.0::

# MOC_FYLM03.cfg
# RTT.WM_RTT_107.SUP_TRACK
# Descr.:RTT 10.7 WM Y IRC5 RW5.05
# created 2004/10/19 14:41:39 by param_db $Revision: 1.2 $

# MECHANICAL_UNIT - ?
MECHANICAL_UNIT:
#
-name "TRACK" -use_run_enable "" -use_activation_relay "" -use_brake_relay ""
-use_robot "" -use_single_0 "TRACK" -stand_by_state -activate_at_start_up

# SINGLE - ?
SINGLE:
#
-name "TRACK" -use_single_type "TRACK" -use_joint "LIN7" -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 "TRACK" -mechanics "TRACK"

# JOINT - ?
JOINT:
#
-name "LIN7" -logical_axis 7 -use_measurement_channel "TRACK"
-use_axc_filter "TRACK" -use_arm "TRACK" -use_transmission "TRACK"
-use_brake "TRACK" -use_supervision "TRACK" -use_drive_system "LIN7"
-drive_module 1 -use_drive_module "drive_module_1"
-uncalibrated_control_master_type "UCCM0"
-use_uncalibrated_control_master "TRACK" -normal_control_master_type "LCM0"
-use_normal_control_master "TRACK"

# MEASUREMENT_CHANNEL - ?
MEASUREMENT_CHANNEL:
#
-name "TRACK"

irbcam

Just ignore the posting above - the CFG files listed work just fine. It is only when jogging that one of the external axes must be deactivated. When doing "View Robot at Target" or running RAPID on the teach-pendant, both axes can be used simultaneously. For anyone interested in the end result, I have uploaded a movie at http://www.irbcam.com/DynamicTrackTable.wmv

-GH