Operation
Atmospheric Single-Arm Robot
Robot Parameter File
User’s Manual
Brooks Automation
6-14
Revision 1
Robot Parameter File
The robot parameters are stored in the *.par file. This file defines the robot parameters
for the controller. Below is an example parameter file, annotated to show the line
locations of the parameters. Your parameter file might have different values.
Note that most parameters list three values. The first value for the T-axis, the second
value is for the R-axis, and the last value is for the Z axis. For example, when the T
axis is homed, a speed of 100 is used, but when the R axis is homed, a speed of 50 is
used.
*For firmware earlier than 6.0, these PID parameter values can differ:
ATM-1111
Serial number of the robot
9600
Baud rate
100,50,20
Home speed
1000,400,50
Home acceleration
2000,2000,2000
Encoder resolution
0,0,0
Reserved - Not used
4300,3000,2000
Operational speed
10025,10012,14012
Operational acceleration
200,200,300
ER
, Error limit or following error
50000,30000,40000*
GN
/
KP
, Proportional gain
0,0,0*
FA
, Servo acceleration forward
4000,4000,4000*
KI
, Integral gain or Response to error
9999,9999,9999*
160000,120000,160000*
ZR
/
KD
, Derivative gain
16896,16896,16896
Ramp value, controls radius of the S-curve
0,-4500,0
Customized home position
0,-31432,0
Home offset in encoder counts
9000,16775,3937
Mechanical ratio used in scaling
0,10460,0
Arm length, total of both arm links for R
4,1500,0
Parameters for optional Z-axis brake
1044,499,63
Operational deceleration
-1000,-10460,-1000
Negative software motion limit
36000,10460,13200
Positive software motion limit
0,0,0
Scanner offset
0,0,0
Reserved - Not used
50,30,40
GN
, Proportional gain
0,0,0;
FA
, Servo acceleration forward
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