*	Robot Model:	R2000ib210F
*	Date Created:	05/23/06
* 	Created by: 	
*			
*			
*			
*
*	NOTE:	This .e file was copied from r2000ia_210f_sa.co Robcad model.
*

*
    motion_space             space_karel;  
    use_config               use;

*   For the specific Karel Filter

    * cart_motion_connection    connect_by_filter ;
    * joint_motion_connection   connect_by_filter ;
    * cart_joint_connection     connect_by_filter ;
    * joint_cart_connection     connect_by_filter ;
    
    cart_motion_connection      superimpose ;
    joint_motion_connection     joint_superimpose ;
    cart_joint_connection       joint_superimpose ;
    joint_cart_connection       joint_superimpose ;

*    cart_vel_prof            rect_prof ;
    cart_vel_prof            const_time_prof ;
    cart_wait_time           0.02 ;
    joint_wait_time          0.01 ;
    clock_cycle              0.024 ;

*   !!! UPDATED S430iF min_acc_time  !!! 
*   Used $MRR_GRP[1].$MIN_ACCTIME
*
    min_acc_time             0.024 ;

*   !!! UPDATED S430iF cart_filter_1 & 2  !!!	
*   Filter parameters -- Used $MRR_GRP[1].$CART_ACCEL1 & 2
*
        cart_lin_acc_time     0.840;
        cart_lin_dec_time     0.840;
*    cart_filter_1            0.560 ;
*    cart_filter_2            0.280 ;
*
*  ---------------
*
    interpolation_type       interpolate_by_2;
    speeds_given             given;
    joints_coordination      end_together;
    cart_speed_to_jnt_cnvrt  by_lim_jnt;
    speed_lim_jnt            2000.0;
    default_control_parm     2000.0;
    react_on_speed_excess    recalc;
    check_joints_speed       check;
    joint_limit_in_cart      stop;
    is_wait                  wait;
    approach_vec	approach_z;
*
*   Cartesian speeds
*
    cart_max_lin_speed       2000.0;
    cart_basic_lin_speed     2000.0;
    cart_max_lin_acc         4000.0;
    cart_basic_lin_acc       4000.0;
    cart_max_lin_dec         5000.0;
    cart_basic_lin_dec       5000.0;

    cart_max_rot_speed       2.2689275;
    cart_basic_rot_speed     2.2689275;
    cart_max_spin_speed      2.2689275;
    cart_basic_spin_speed    2.2689275;
    cart_max_roll_speed      3.665191;
    cart_basic_roll_speed    3.665191;
*
*   ZONES
*
    zone_define  fine no_smooth ;
    zone_define  coarse speed cartesian 3.0 ;
    zone_define  medium speed cartesian 50.0 ;
    zone_define  nodecel speed cartesian 99.5;
    zone_define  sp_zone1 speed cartesian 30.0;

*  -----------
*   CONFIGURATION

*    config_family               cf_over_head_pos;
* 2002.05.17 : Nihon Tecnomatix : For Japanese olp fanuc_rj3_spot_rrs
    config_family               cf_over_head_neg;
    joint_config_family j3      joint_cf_elbow_up;
    joint_config_family j5      joint_cf_pos;

*  -----------
*   TURNS
*    default_turns j1 0 -180, j4 0 -180, j6 0 -180;
* 2002.05.17 : Nihon Tecnomatix : For Japanese olp fanuc_rj3_spot_rrs
    default_turns j4 0 -180, j6 0 -180;

*
*   Joints data
*
*    joint_vel_prof	rot	rect_prof ;
    joint_vel_prof      rot     const_time_prof ;

*   !!! UPDATED S430iF joint_max_speed & joint_basic_speed FOR ALL JOINTS !!!
*  Used $MRR_GRP[1].$JNTVELLIM for speeds

    joint_max_speed	j1	1.7453293;
    joint_basic_speed	j1	1.7453293;

    joint_max_speed	j2	1.8325957;
    joint_basic_speed	j2	1.8325957;

    joint_max_speed	j3      1.8325957;
    joint_basic_speed	j3      1.8325957;

    joint_max_speed	j4	2.2689280;
    joint_basic_speed	j4	2.2689280;

    joint_max_speed	j5	2.2689280;
    joint_basic_speed	j5	2.2689280;

    joint_max_speed	j6	3.6651914;
    joint_basic_speed	j6	3.6651914;
*
*   This data has to be obtained from repetetive tests.
*
    joint_settle             j1  0.120 ;
    joint_delay              j1  0.010 ;
   
    joint_settle             j2  0.120 ;
    joint_delay              j2  0.010 ;

    joint_settle             j3  0.120 ;
    joint_delay              j3  0.010 ;

    joint_settle             j4  0.100 ; 
    joint_delay              j4  0.010 ;

    joint_settle             j5  0.090 ;
    joint_delay              j5  0.010 ;

    joint_settle             j6  0.045 ;
    joint_delay              j6  0.010 ;

*   !!! UPDATED S430iF joint_filter_1 & 2 FOR ALL JOINTS !!!
*   Filter Parameters -- Used $MRR_GRP[1].$ACCEL_TIME1 & 2
*
        joint_acc_time  j1                      1.200;
        joint_dec_time  j1                      1.200;

        joint_acc_time  j2                      1.500;
        joint_dec_time  j2                      1.500;

        joint_acc_time  j3                      0.750;
        joint_dec_time  j3                      0.750;

        joint_acc_time  j4                      0.528;
        joint_dec_time  j4                      0.528;

        joint_acc_time  j5                      0.552;
        joint_dec_time  j5                      0.552;

        joint_acc_time  j6                      0.552;
        joint_dec_time  j6                      0.552;

*    joint_filter_1	j1	0.800 ;	
*    joint_filter_2	j1	0.400 ;
 
*    joint_filter_1	j2      1.000 ;
*    joint_filter_2	j2      0.500 ;

*    joint_filter_1	j3      0.500 ;
*    joint_filter_2	j3      0.250 ;

*    joint_filter_1	j4      0.352 ;
*    joint_filter_2	j4      0.176 ;
    
*    joint_filter_1	j5      0.368 ;
*    joint_filter_2	j5      0.184 ;

*    joint_filter_1	j6      0.368 ;
*    joint_filter_2	j6      0.184 ;

*  ----------

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Notes:

	This is an "accurate model".

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