ABB Robotics RobotWare 6, Руководство по применению

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6 Motor type file
Content of motor type file
The motor type file must include the types:
•
MOTOR_TYPE
•
STRESS_DUTY_CYCLE
If not using the default values for standard ABB motors, the motor type file can
include (for example):
•
MOTOR_CALIB
•
LCM0
•
AXC_FILTER
Example of motor type file
MOC:CFG_1.0::
#Technical spec S.DTE 008-91
#
MOTOR_TYPE:
-name "ARO_S.DTE008_91"\
-pole_pairs 4\
-inertia 0.00165\
-torque_0 18\
-ke 0.98365\
-ke_temp_coef_20 0.00035\
-ke_stability_coef_20 0.03\
-ke_tolerance_min -0.05\
-ke_tolerance_max 0.05\
-ke_red_2i0 0.06\
-i_max 19.5\
-torque_losses_at_speed1 0.2\
-torque_losses_at_speed2 0.3\
-torque_losses_at_speed3 0.4\
-speed1 104.72 -speed2 209.44\
-speed3 314.16\
-r_stator_20 1.225\
-r_stator_temp_coef_20 0.00263\
-l_stator 0.00325
#
STRESS_DUTY_CYCLE:
-name "SGUN_1"\
-speed_absolute_max 314\
-torque_absolute_max 30\
-speed_max_reduction_active
Application manual - Servo Gun Setup 77
3HAC065014-001 Revision: E
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6 Motor type file