自动化测试电机电流功能迁移完成

assets/files/examples/自动测试/电机电流/NB4h_R580_3G/NB4h-R580-3G.cfg

@@ -0,0 +1,152 @@
+{
+    "ROBOT_NAME": "NB4h-R580-3G",
+    "CONFIGURATION": {
+        "AXES_NUMBER": 6,
+        "CLASS": "INDUSTRIAL",
+        "TYPE": "Standard_6_axes",
+        "PAYLOAD": 4
+    },
+    "VERSION": "ME_AE_SS_xC.v3.0.1.R0",
+    "KINEMATICS": {
+        "ROBOT_DIMENSIONS": [0.0, 0.0, 0.0, 0.0, 0.0, 333.0, 0.0, 0.0, 280.0, 300.0, 0.0, 15.0, 0.0, 0.0, 0.0, 75.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        "DH_PARAMS": [0.0, 0.0, 333.0, 0.0, -90.0, 0.0, 0.0, -90.0, 0.0, 280.0, 0.0, 0.0, -90.0, 15.0, 300.0, 0.0, 90.0, 0.0, 0.0, 0.0, -90.0, 0.0, 75.0, 180.0, 0.0, 0.0, 0.0, 0.0],
+        "DH_PARAMS_SUPPORT": 0,
+        "JOINT_RANGE_MIN": [-171, -90.3, -200.5, -171.5, -123.25, -360],
+        "JOINT_RANGE_MAX": [171, 130.3, 55.5, 171.5, 123.25, 360],
+        "JOINT_RANGE_MIN_CUSTOMIZE": [-170, -90, -200, -170, -120, -360],
+        "JOINT_RANGE_MAX_CUSTOMIZE": [170, 130, 55, 170, 120, 360],
+        "JOINT_CALIBRATE_ANGLE": [8.55, 0, 0, 66, 0, 0],
+        "TRANSPORT_POSTURE": [0, -20, 51, 0, 59, 0],
+        "DRAG_POSTURE": [0, 0, 0, 0, 0, 0],
+        "ROBOT_DIMENSIONS_AID": []
+    },
+    "DYNAMICS": {
+        "JOINT_DAMPING_GAIN": [1, 1, 1, 1, 1, 1],
+        "JOINT_STIFFNESS_GAIN": [1, 1, 1, 1, 1, 1],
+        "JOINT_DAMPING": [],
+        "JOINT_STIFFNESS": [],
+        "VIBRATION_SUPPRESSION_ENABLE": false,
+        "FLEX_SUPPORT": false,
+        "INERTIA_DEAD_ZONE": [],
+        "FEEDFOREWARD_TRQ_FACTOR": [],
+        "TRAJECTORY_PARAMS": [5, 0.1, -0.04072466, 0.43086896, 0.36515585, 0.67591341, 0.27004892, 0.93559897, 0.267038749999999, 1.25511993, -0.14383751, 0.47007479, 0.310998109999999, 0.290793199999999, -0.239750529999999, 0.7878315, 0.706314809999999, -0.46671499, -0.00693842999999999, -0.19215951, 0.56794257, 0.883894509999999, 0.49373632, 0.01380959, 0.83099347, 0.38849866, 0.76181887, 0.581606489999999, 0.0172037599999999, 0.54098027, 0.656982029999999, 0.99054692, -0.07611184, 0.95722059, 0.75434694, 0.493781409999999, 0.582492939999999, 0.0299886699999999, 0.0905649399999999, -0.12391953, 0.09264124, 0.681803229999999, 0.21261835, -0.10514286, -0.74680413, 0.0146706, -1.57221134999999, 1.45187746999999, -0.4803584, 0.681643499999999, 0.37682458, 0.07648201, -0.05270971, -0.291863309999999, -0.570327359999999, -0.52805053, -0.278856209999999, -0.00355706999999999, 0.08835215, -0.232046439999999, -0.812577149999999, 0.00243426, 0.12064894, 0.327550049999999, -0.58553805, -0.01712549, -0.138711389999999, 0.92037943],
+        "IDENT_PARAMS_NF": [],
+        "PAYLOAD_PARAMS": [-0.0746499999999999, 0.0756249999999999, -0.0756249999999999, 0.275, 0.0790249999999999, 0.0777749999999999, 0.025, 0.28, 0.005329, 0.005329, 0.0729999999999999, 0.145999999999999, 0.145999999999999, 1, 1, 1, 1, 1, 1, 1],
+        "MODEL_BUILD_TYPE": 0,
+        "FRICTION_TYPE": 0,
+        "LINK_MASS": [4.542, 3.825, 2.207, 2.915, 1.585, 0.32],
+        "LINK_CENTROID": [-13.755, 16.08, 247.871, -8.709, 15.072, 135.405, 5.145, 6.671, -1.307, -122.719, 0.608, -0.188, 28.128, -1.014, 0.004, -9.557, 0.0, 0.051],
+        "LINK_MOMENT_OF_INERTIA_LOW": [26730.697, 23305.849, 18705.243, -389.139, 981.756, 1367.986, 55818.209, 49259.926, 13261.075, 71.676, -691.385, 1157.377, 4469.258, 4594.973, 5057.332, -88.824, 654.697, -69.477, 4638.362, 20273.735, 21764.076, 225.359, 17.193, 15.37, 1429.243, 2084.235, 2335.733, 45.188, 0.656, -0.408, 197.165, 118.444, 119.352, -0.0, 0.085, -0.0],
+        "MOTOR_INERTIA": [835553.702, 420546.841, 212626.306, 86013.415, 38263.971, 157525.725],
+        "CUBIC_FRICTION_PARAMS": [0.126, 1.447, 7.75, -5.222, 0.137, -1.59, 8.462, 4.614, 0.049, 0.477, 3.277, -5.465, 0.036, -0.431, 3.259, 6.058, 0.043, 0.54, 3.008, -4.789, 0.03, -0.414, 2.75, 4.184, 0.019, 0.367, 3.08, -4.867, 0.019, -0.372, 3.16, 4.732, 0.007, 0.137, 1.419, -2.47, 0.008, -0.149, 1.504, 2.418, 0.009, 0.163, 1.362, -1.95, 0.01, -0.171, 1.397, 1.942, 7.803, 5.538, 5.022, 9.391, 7.783, 10.495],
+        "PIECE_WISE_LINEAR_FRICTION_PARAMS": [-0.06535761799684625, 5.307688270951032, 1.7604060137212758, 6.068038154979308, 5.583910262589325, 2.6218551937934973, 6.732621808450132, 4.471944392836248, 7.806749671368908, 7.0602371104504185, 7.853981633974483, 5.331997878206609, 0.24831213946387853, 5.840754037739742, 0.7403630230897218, 2.968216798484358, 1.5824972029194462, 2.407956752510862, 2.589954407861573, 1.937742619236955, 5.573021764456917, 1.58751952063559, 5.8904862254808625, 4.357924135448341e-07, -0.30232711860210815, 4.529134308122705, 0.8817788776693095, 2.4193841686971425, 1.916911521752169, 1.7713111112576077, 3.095284385491982, 1.2439578089982188, 4.999009668864633, 0.889507380429942, 5.235987755982989, 1.6838803244759562e-05, 0.07276495199295319, 5.073757316934823, 2.954918730146166, 2.2231836749454685, 8.925123452528698, 0.8524820442812915, 9.39438330300407, 1.1316138156617148, 10.664561784960355, 4.4656417123822525e-07, 10.681415022205297, -1.1884619119438249e-05, -0.022751910304290357, 2.4695451161700452, 1.2278079266323212, 1.3395643105831287, 2.6707582902172615, 1.0161324308647695, 4.316481644896923, 0.7563247691632612, 7.79933238944163, 0.593519692288847, 9.666438934122441, -2.374687996390956e-07, 0.016116837609708723, 1.986467017026887, 1.6666214728424908, 1.1416576684507849, 3.461070297757759, 0.7112239873757976, 8.31710269092633, 0.457300468823857, 10.593335243447141, 0.8462317840546537, 16.226303519258618, -5.592302627025284e-08],
+        "IDENT_PARAMS_WF": [-0.3835157067, 5.035909, 9.38751, 0.1737, 0.9389008715, -0.0260568815, -0.0586179693999999, -0.0358425081999999, 0.0965298651999999, 3.1896350395, 0.0475487017, 5.403823, 5.012539, -2.883714, 0.3274178574, 0.0209162596999999, -0.0671335438, 0.761626541199999, 0.0442403211, 0.0940986696, 0.9138090424, 2.617634, 6.395417, 0.004183, 0.0771906938, -0.0003390905, 0.0237117726, 0.0798426609, -0.0119266748, 0.0108141559, 0.0497106805, 1.0543, 2.663184, 0.15474, -0.0370267432999999, -0.0054303809, -0.0239029530999999, 0.0071703301, 0.0127975931, 0.0017350899, -0.00237885969999999, 0.779036, 1.647843, 0.075562, 0.0053908232, -0.0112614849, 0.0124041744, -0.0061579121, 0.0070301924, 0.0023095324, 0.0040231572, 1.033086, 3.76907, 0.118944],
+        "LINK_MOMENT_OF_INERTIA": [26730.697, 23305.849, 854258.945, -389.139, 981.756, 1367.986, 55818.209, 469806.767, 13261.075, 71.676, -691.385, 1157.377, 4469.258, 217221.279, 5057.332, -88.824, 654.697, -69.477, 90651.777, 20273.735, 21764.076, 225.359, 17.193, 15.37, 1429.243, 40348.207, 2335.733, 45.188, 0.656, -0.408, 119.352, 118.444, 157722.891, -0.0, 0.085, -0.0],
+        "LINK_MASS_AID": [],
+        "LINK_CENTROID_AID": [],
+        "LINK_MOMENT_OF_INERTIA_AID": []
+    },
+    "MOTOR": {
+        "ENCODER_RESOLUTION": [131072, 131072, 131072, 131072, 131072, 131072],
+        "RATED_SPEED": [3000, 3000, 3000, 3000, 3000, 3000],
+        "MAX_SPEED": [6000, 6000, 6000, 6000, 6000, 6000],
+        "MAX_SPEED_CUSTOMIZE": [6000, 6000, 6000, 6000, 6000, 6000],
+        "RATED_TORQUE": [1.27, 0.64, 0.32, 0.32, 0.16, 0.32],
+        "TORQUE_OVERLOAD_FACTOR": [0.95, 1.5, 1.9, 1.45, 1.25, 1.55],
+        "PEAK_TORQUE": [4.46, 2.23, 1.11, 1.11, 0.56, 1.11],
+        "STALL_TORQUE": [1.27, 0.64, 0.32, 0.32, 0.16, 0.32],
+        "RATED_TORQUE_AT_MAX_SPEED": [0.64, 0.32, 0.159, 0.159, 0.08, 0.159],
+        "PEAK_TORQUE_AT_MAX_SPEED": [2, 1, 0.79, 0.79, 0.56, 0.79],
+        "SPEED_AT_PEAK_TORQUE_TURN_POINT": [3600, 3600, 4100, 4100, 6000, 4100],
+        "TORQUE_GRADIENT": [0.00021, 0.000107, 5.4e-05, 5.4e-05, 2.7e-05, 5.4e-05]
+    },
+    "TRANSMISSION": {
+        "REDUCTION_RATIO_NUMERATOR": [80, -106.66666666666666, -120, -58.82352941176471, -65, -38.72222222222222],
+        "REDUCTION_RATIO_DENOMINATOR": [1, 1, 1, 1, 1, 1],
+        "MAX_TORQUE_FOR_START_AND_STOP": [73, 73, 66.5, 33, 15, 22.5],
+        "OVERLOAD_FACTOR": [0.95, 1.45, 0.95, 0.95, 0.95, 0.95],
+        "COUPLING_FACTOR": [0, 0, -0.02582496413199426],
+        "MAX_AVERAGE_TORQUE": [46, 46, 48.5, 25.5, 6.2, 17.6],
+        "MAX_PEAK_TORQUE": [124, 124, 135.9, 69, 29, 47],
+        "MAX_INPUT_SPEED": [6500, 6500, 7300, 7200, 8200, 7200]
+    },
+    "MOTION": {
+        "MIN_SMOOTH_TIME": 1,
+        "MAX_SMOOTH_TIME": 1024,
+        "SMOOTH_TIME": 1,
+        "FILTER_ENABLE": false,
+        "VEL_SMOOTH_FACTOR": 1,
+        "JOINT_MAX_SPEED": [450.0, 318.0, 288.0, 550.0, 450.0, 612.0],
+        "JOINT_MAX_ACC": [10900, 8900, 5300, 8060, 4893, 10400],
+        "JOINT_MAX_JERK": [421000, 249000, 199000, 161200, 65244, 41800],
+        "TCP_MAX_SPEED": 7000,
+        "TCP_MAX_ACC": 5000,
+        "TCP_MAX_JERK": 100000,
+        "TCP_ROTATE_MAX_SPEED": 500,
+        "TCP_ROTATE_MAX_ACC": 600,
+        "TCP_ROTATE_MAX_JERK": 2000,
+        "JERK_LIMIT_CART": 1000,
+        "JERK_LIMIT_ROT": 1000,
+        "JERK_LIMIT_JOINT": 7000,
+        "MAX_ACC_PARAMS": [1, 0.5],
+        "MIN_ACC_PARAMS": [0.3, 0.02],
+        "DEFAULT_ACC_PARAMS": [1, 0.08],
+        "ACC_RAMPTIME_JOG": 0.06,
+        "ACC_RAMPTIME_STOP": 0.08
+    },
+    "SAFETY_CONTROL": {
+        "STOP_STO_TIME": [260, 760],
+        "BACK_DISTANCE": 3,
+        "STOP0_TYPE": 2,
+        "STOP0_TIME": 50,
+        "STOP0_LENGTH": 3,
+        "STOP0_DELAY": 240,
+        "STOP1_TYPE": 2,
+        "STOP1_TIME": 150,
+        "STOP1_LENGTH": 6,
+        "STOP1_DELAY": 700,
+        "STOP2_TYPE": 2,
+        "STOP2_TIME": 150,
+        "STOP2_LENGTH": 6,
+        "STOP2_DELAY": 700
+    },
+    "COLLISION": {
+        "ZERO_PROTECT_ENABLE": false,
+        "PATH_SPEED_MIN": [6, 6, 6, 2, 2, 2],
+        "PATH_SPEED_MAX": [25, 25, 15, 8, 5, 4],
+        "JOG_SPEED_MIN": [6, 6, 6, 2, 2, 2],
+        "JOG_SPEED_MAX": [25, 25, 15, 8, 5, 4],
+        "DELAY_PERIOD_RANGE": 50,
+        "SENSITIVITY": {
+            "LOW": [300, 300, 300, 50, 50, 50],
+            "MEDIUM": [30, 30, 30, 20, 20, 20],
+            "HIGH": [4, 4, 4, 2, 2, 2],
+            "ULTRA_LOW": [300, 300, 300, 50, 50, 50],
+            "ULTRA_MEDIUM": [30, 30, 30, 20, 20, 20],
+            "ULTRA_HIGH": [4, 4, 4, 2, 2, 2]
+        }
+    },
+    "FORCE_CONTROL": {
+        "COMMON": {
+            "MAX_TRQ_CMD": [300, 300, 200, 80, 40, 40],
+            "PROTECT_FORCE_SWITCH": 1,
+            "COMPLIANCE_KD_IN_SLOWDOWN": [1, 1, 1, 1, 0.5, 0.5],
+            "COMPLIANCE_KI_IN_SLOWDOWN": [20, 20, 10, 5, 1, 1],
+            "PROTECT_FORCE_DAMP": [80, 80, 25, 10, 3, 3],
+            "PROTECT_FORCE_MAXTIME": 200
+        }
+    },
+    "RSC_PROTECT": {
+        "POS_FOLLOWING_ERROR_THRESHOLD": [262144, 262144, 262144, 262144, 262144, 262144],
+        "VEL_FOLLOWING_ERROR_THRESHOLD": [1200, 1000, 1000, 1000, 1000, 1000],
+        "CONTINUE_TIME": [1500, 1000, 0, 0],
+        "PROTECT_SUPPORT": false
+    },
+    "TEACHING": {
+        "FRICTION_FACTOR": [1, 1, 1, 1, 1, 1],
+        "INERTIAL_FACTOR": 0.3,
+        "MAX_CARTESIAN_SPEED": 0.25,
+        "MAX_JOINT_SPEED": 0.5,
+        "TORQUE_FACTOR": 1
+    }
+}