Sample ASCII-Formatted Specification File
Sample ASCII SPEC file for a Linear Module illustrates the contents of a sample specification file that was created for a Linear Module robot. This file was created using the menu option Save specifications to disk file on the SPEC main menu.
Labels that correspond to the SPEC menu where the data is entered display for each type of data presented. For example, the label JOINT MOTION PARAMETERS, precedes the data specified on the Joint Motion Specification Menu. Note that in addition to the specification information, the file also contains some computed values that were automatically derived from the robot specification data.
A typical data section within the specification data file looks like this:
.DATA 220 ;Timeouts (sec): 1=Nulling timeout, 2=Drive enable timeout ; 3=Power-on/amp-on delay, 4=Brake-off delay, 5=Brake-on delay 5.504, 3.024, 3.024, 0, 0Following the word ".DATA" is the data section number, 220. This number indicates to the motion system where the data is to be stored in system memory. The data section number is followed by a descriptive comment about the data section. Ensuing lines contain the values as stored in system memory. In this case, the values indicate the settings for the different timeout parameters that are set from the Robot Initialization Specifications Menu. Other data sections, such as link dimensions, are stored in an order particular to the robot.
Sample ASCII SPEC file for a Linear Module
.HEADER Robot Specification Data Version 1.3 ; Created by SPEC 16.0A5 on 19-Feb-03 14:34:09 ; ********************************************************************** ; Sample SPEC Sample SPEC File ; ********************************************************************** ; Software: 16.0 85-1100 (Edit A5, 09-Oct-2002, Development Test) ; Controller: 3402-2111 0 ; Servo rate: 1000 Hz ; Processor 1: 0.1 5-5 32Mb Robot 1: 400-0 0-0 32 Title: "Linear-Module Robot Module." .DATA_SECTION ; OPTION WORD AND MOTOR CONFIGURATION .DATA 230 ;Robot option word 0 .DATA 4 ;Velocity servo enable mask 0 .DATA 1 ;Number of joints 1 .DATA 2 ;Motor to axis mapping 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0 .DATA 231 ;Robot/Joint mechanism ID 0 .DATA 3 ;Enabled axis mask 1 ; ROBOT INITIALIZATION SPECIFICATIONS .DATA 17 ;Module password Null .DATA 19 ;Robot Model Number 400 .DATA 18 ;Robot Serial Number 0 .DATA 20 ;Hand OPEN/CLOSE signals 0, 0, 0, 0 .DATA 220 ;Timeouts (sec): 1=Nulling timeout, 2=Drive enable timeout ; 3=Power-on/amp-on delay, 4=Brake-off delay, 5=Brake-on delay 5.504, 3.024, 3.024, 0, 0 .DATA 222 ;Max time to wait for amp power (sec) 1.008 .DATA 221 ;Time required for clutch to engage (sec) 0 .DATA 223 ;Manual mode ESTOP shutdown timeout (sec) 0 .DATA 224 ;Auto mode ESTOP shutdown timeout (sec) 0 .DATA 225 ;Hold-to-run mode ESTOP shutdown timeout (sec) 0 .DATA 15 ;Modular joint type "Not SPEC'ed" ; AMPLIFIER AND ENCODER SPECIFICATIONS .DATA 1013 ;*Duty cycle exceeded* filter pole 0 .DATA 1014 ;*Motor stalled* timeout (sec) 0 .DATA 1063 ;*Velocity envelope error* limit (ct/ms) 2.147484E+09 .DATA 1032 ;Machine input polarity 11 .DATA 1042 ;Default motion speed (cts/ms) 4 .DATA 61 ;Counts per joint travel (cts/deg or cts/mm) 400.00000000 .DATA 62 ;Joint travel per count (deg/cts or mm/cts) 2.4999999E-03 .DATA 1017 ;Counts per zero index (zero = disable) 0 .DATA 1016 ;Zero-index configuration 52 .DATA 1015 ;Encoder sign (non-zero => flip sign) 0 .DATA 1009 ;Motor sign (non-zero => flip sign) 0 .DATA 1010 ;Maximum DAC value 0 .DATA 1059 ;Maximum DAC value in Manual mode 0 .DATA 1012 ;*Duty cycle exceeded* DAC limit 0 .DATA 1064 ;*Manual mode envelope error* limit (cts) 0 .DATA 1018 ;*Soft envelope error* limit (cts) 0 .DATA 1058 ;*Hard envelope error* limit (cts) 0 .DATA 1029 ;*Skew error* limit (cts) 0 .DATA 1045 ;Counts per commutation cycle 0 ; SERVO TUNING PARAMETERS .DATA 1048 ;Proportional (DC) loop gain 0 .DATA 1001 ;Location of zero, Z-plane 0.9799957 .DATA 1002 ;Location of pole, Z-plane 0 .DATA 1003 ;Integrator gain 0 .DATA 1005 ;Max value for integrator state 0 .DATA 1004 ;Max position error to integrate 0 .DATA 1006 ;Velocity feed-forward gain 0 .DATA 1060 ;Minimum acceleration feed-forward gain 0 .DATA 1007 ;Nominal acceleration feed-forward gain 0 .DATA 1062 ;Default acceleration feed-forward gain 0 .DATA 1061 ;Maximum acceleration feed-forward gain 0 .DATA 1067 ;Static friction feedforward maximum trigger 0 .DATA 1066 ;Static friction feedforward minimum trigger 0 .DATA 1065 ;Static friction feedforward time constant 0 .DATA 1068 ;Static friction feedforward max positive value 0 .DATA 1069 ;Static friction feedforward max negative value 0 .DATA 1022 ;DAC output filter pole 0 .DATA 1028 ;Skew-error gain 0 .DATA 1030 ;Max. vel. f-f gain 0 .DATA 1070 ;2nd-Order Filter Pole Frequency -0.9999998 .DATA 1071 ;2nd-Order Filter Damping Ratio -0.9999998 ; CURRENT LOOP PARAMETERS ; JOINT SPEED LIMIT PARAMETERS ; CALIBRATION PARAMETERS .DATA 200 ;Calibration file name "standard.cal" .DATA 1023 ;Homing configuration 0 .DATA 1044 ;Saturation time during calibration (ms) 250 .DATA 1040 ;Speed and direction for search (cts/msec) 0 .DATA 1041 ;Speed for fine searches (cts/msec) 1 .DATA 1034 ;Max distance to search (cts) 0 .DATA 1036 ;Max width of home sensor (cts) 0 .DATA 1037 ;Distance from home sw to first zero index (cts) 0 .DATA 1035 ;Motor position at first index (cts) 0 .DATA 1053 ;Calibration group 1 .DATA 1038 ;Park position after homing (cts) 0 .DATA 1512 ;Dynamic option 0 ; JOINT MOTION PARAMETERS .DATA 181 ;COARSE nulling tolerance (cts) 400 .DATA 1019 ;Time to be in tolerance (sec) 0.016 .DATA 1055 ;Tolerance checking filter pole 0 .DATA 202 ;READY location joint values (deg or mm) 0 .DATA 141 ;Min joint pendant increment (deg or mm) 1E-03 .DATA 142 ;Max joint pendant speed (deg/sec or mm/sec) 50 .DATA 240 ;Free mode enable bit field 65535 .DATA 241 ;Free mode gravity compensation bit field 0 .DATA 22 ;Free mode signals 0 .DATA 180 ;FINE nulling tolerance (cts) 4 ; LINK DIMENSIONS (mm) .DATA 80 ;Wrist to flange distance 0 .DATA 81 ;Link dimensions 0 .DATA 82 ;Default BASE 0, 0, 0, 0 ; SOFTWARE JOINT LIMITS (deg or mm) .DATA 120 ;Lower joint travel limit -400 .DATA 121 ;Upper joint travel limit 400 .DATA 123 ;Max lower joint travel limit -400 .DATA 124 ;Max upper joint travel limit 400 ; CARTESIAN MOTION SPECIFICATIONS .DATA 144 ;Max WORLD/TOOL pendant rot./trans. speed (mm/sec or deg/sec) 45, 50, 0.785375 .DATA 140 ;Time to reach max pendant speed (sec) 0.16 .DATA 143 ;Min WORLD/TOOL pendant rot./trans. increment (mm or deg) 1E-03, 1E-03, 1.740456E-05 ; TRAJECTORY GENERATOR SPEED PARAMETERS .DATA 162 ;Minimum execution time for Cartesian motions (sec) 0, 0 .DATA 168 ;Max acceleration (%) 100 .DATA 173 ;Max deceleration (%) 100 .DATA 169 ;Max program speed (%) 100 .DATA 170 ;Max rate of change in Mtr speed (%/sec) 25 .DATA 171 ;Startup S-Curve profile 1 .DATA 172 ;Startup % accel and % decel 100, 100 .DATA 174 ;SCALE.ACCEL speed limit (%) 1E+16 .DATA 175 ;Special arm power off decel (%) 0 .DATA 163 ;Joint speed at SPEED 100 (deg/sec or mm/sec) 1200 .DATA 165 ;Joint accel at ACCEL 100 (deg/sec^2 or mm/sec^2) 20000 .DATA 164 ;Cartesian trans./rot. speed at SPEED 100 (mm/sec or deg/s) 1200 .DATA 166 ;Cartesian trans./rot. accel at ACCEL 100 (mm/sec^2 or deg/sec^2) 20000 .DATA 167 ;Acceleration ramp times (sec) -1, 0.01, 0.01, 0.01, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ; BACKLASH AND LINEAR COMPENSATION ; COLLISION DETECTION/AVOIDANCE .DATA 321 ;Protected Cartesian obstacles 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 .DATA 322 ;User defined Cartesian obstacles 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ; STOP-ON-FORCE SPECIFICATIONS .DATA 1027 ;Stop-on-force integrator gain 0 .END