* 
*   Project      : 
*   Robot name   : S430iW
*   Controller   : 
*   Date created : 11/17/98
*   Status	 : INCOMPLETE
*
*   Level	: Non-Accurate, Documented
*   By		: Eric Buchanan - FANUC Robotics North America, Inc.   
*
*   Description : This model created on 11/16/98.  This .e file was modified
*		  from the S420if.co Robcad .e file with modifications made
*		  to reflect the S430iW's working parameters where available.
*		  All updated parameters are noted.
*

*
    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 S430iW min_acc_time  !!! 
*   Used $MRR_GRP[1].$MIN_ACCTIME
*
    min_acc_time             0.060 ;

*   !!! UPDATED S430iW cart_filter_1 & 2  !!!	
*   Filter parameters -- Used $MRR_GRP[1].$CART_ACCEL1 & 2
*
	cart_lin_acc_time     0.528;
	cart_lin_dec_time     0.528;
*    cart_filter_1            0.352 ;
*    cart_filter_2            0.176 ;
*
*  ---------------
*
    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       3.665191;
    cart_basic_rot_speed     3.665191;
    cart_max_spin_speed      2.617994;
    cart_basic_spin_speed    2.617994;
    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

    joint_config_family	j1      joint_cf_cos_pos;
    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;

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

*   !!! UPDATED S430iW joint_max_speed & joint_basic_speed FOR ALL JOINTS !!!
*  Used $MRR_GRP[1].$JNTVELLIM for speeds

    joint_max_speed	j1	1.832596;
    joint_basic_speed	j1	1.832596;

    joint_max_speed	j2	1.832596;
    joint_basic_speed	j2	1.832596;

    joint_max_speed	j3      1.832596;
    joint_basic_speed	j3      1.832596;

    joint_max_speed	j4	2.268928;
    joint_basic_speed	j4	2.268928;

    joint_max_speed	j5	2.268928;
    joint_basic_speed	j5	2.268928;

    joint_max_speed	j6	3.665191;
    joint_basic_speed	j6	3.665191;
*
*   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 S430iW joint_filter_1 & 2 FOR ALL JOINTS !!!
*   Filter Parameters -- Used $MRR_GRP[1].$ACCEL_TIME1 & 2
*
	joint_acc_time	j1                      0.744;
	joint_dec_time	j1                      0.744;
	
	joint_acc_time	j2                      0.696;
	joint_dec_time	j2                      0.696;
	
	joint_acc_time	j3                      0.672;
	joint_dec_time	j3                      0.672;
	
	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	0.496 ;	
*    joint_filter_2	j1	0.248 ;
 
*    joint_filter_1	j2      0.464 ;
*    joint_filter_2	j2      0.232 ;

*    joint_filter_1	j3      0.448 ;
*    joint_filter_2	j3      0.224 ;

*    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 ;

*  ----------
%begin text

Notes:

	This is not an "accurate model".

	OLP programs created with this robot should be for test
	purposes only.  This model is only for engineering use.

%end text
