ABB机器人自定义2轴变位机配置方法与配置文件

1. 对于二轴变位机，如果有数模 ，可以在RobotStudio的机械装置中，将变位机制作成外轴类型的机械装置，然后使用外轴向导进行自动moc参数创建，参见https://mp.weixin.qq.com/s/pv3TbNRG33NnQZXTgMYUgQ

2. 在使用外轴向导时，以下地方要勾上 User Error Model（若此处为灰色，则是在制作机械装置是有问题，重新制作）。

使用了Error模型后，可以在后续第4步分别对二轴变位机的2个轴进行校准，机器人会根据两个轴校准得到的结果自动重算二轴变位机DH模型

若未使用Error模型后，在后续第4步时只能选择对变位机整体的Base进行校准，即机器人使用在moc中设置的二轴变位机DH模型参数，不可根据现场校准重算。


3. 后续设置每个轴的电机，减速比等参数4. 重启后，即可在校准Base界面看到下图。 即先对第一个轴进行4点法校准，然后让1轴在0度，校准第二个轴。机器人会自动计算变位机内部DH并修改。

5. 备份中，该变位机也被识别为IRBP_A类型，error_model使用ERROR


6. 若二轴变位机没有模型，也可直接将以下文件保存为a_positioner.cfg，导入机器人后重启，再根据实际修改减速比，电机参数等。以下文件采用ERROR模型，即可现场对二轴变位机的每个轴进行校准，以实现二轴变位机与机器人的整体精确联动MOC:CFG_1.0::
MECHANICAL_UNIT:-name "STN1" -use_run_enable "" -use_activation_relay "" -use_brake_relay "rob1_brake" \-use_robot "STN1" -stand_by_state -activate_at_start_up -deactivation_forbidden \-allow_move_of_user_frame #ROBOT:-name "STN1" -use_robot_type "STN1" -use_joint_0 "M7DM1" -use_joint_1 "M8DM1" #ROBOT_TYPE:-name "STN1" -type "IRBP_A" -error_model "ERROR" -no_of_joints 2 -base_pose_rot_u0 1 \-base_pose_rot_u1 0 -base_pose_rot_u2 0 -base_pose_rot_u3 0 #ARM:-name "M7DM1" -use_arm_type "M7DM1" -use_acc_data "M7DM1" -upper_joint_bound 3.14159265358979 \-lower_joint_bound -3.14159265358979
-name "M8DM1" -use_arm_type "M8DM1" -use_acc_data "M8DM1" -upper_joint_bound 3.14159265358979 \-lower_joint_bound -3.14159265358979 #ARM_TYPE:-name "M7DM1" -length 0 -offset_z 0 -theta_home_position 0 -attitude 0 -rot_axis_pose_pos_x 1.2 \-rot_axis_pose_pos_y 0 -rot_axis_pose_pos_z 0.7 -rot_axis_pose_orient_u0 0.707106781186548 \-rot_axis_pose_orient_u1 0.707106781186547 -rot_axis_pose_orient_u2 0 -rot_axis_pose_orient_u3 0
-name "M8DM1" -length 0 -offset_z 0.2306 -theta_home_position -3.14159265358979 \-attitude 1.5707963267949 -rot_axis_pose_pos_x 1.2 -rot_axis_pose_pos_y 0 \-rot_axis_pose_pos_z 0.9306 -rot_axis_pose_orient_u0 1 -rot_axis_pose_orient_u1 0 \-rot_axis_pose_orient_u2 0 -rot_axis_pose_orient_u3 0 #JOINT:-name "M7DM1" -logical_axis 7 -use_measurement_channel "M7DM1" \-use_axc_filter "M7DM1" -use_arm "M7DM1" -use_transmission "M7DM1" \-use_brake "M7DM1" -use_supervision "M7DM1" -use_drive_system "M7DM1" \-drive_module 1 -use_drive_module "drive_module_1" \-uncalibrated_control_master_type "UCCM0" \-use_uncalibrated_control_master "M7DM1" -normal_control_master_type "LCM0" \-use_normal_control_master "M7DM1"
-name "M8DM1" -logical_axis 8 -use_measurement_channel "M8DM1" \-use_axc_filter "M8DM1" -use_arm "M8DM1" -use_transmission "M8DM1" \-use_brake "M8DM1" -use_supervision "M8DM1" -use_drive_system "M8DM1" \-drive_module 1 -use_drive_module "drive_module_1" \-uncalibrated_control_master_type "UCCM0" \-use_uncalibrated_control_master "M8DM1" -normal_control_master_type "LCM0" \-use_normal_control_master "M8DM1"#TRANSMISSION:-name "M7DM1" -rotating_move -transm_joint 50 -high_gear 50 -name "M8DM1" -rotating_move -transm_joint 50 -high_gear 50 #MEASUREMENT_CHANNEL:-name "M7DM1" -use_measurement_board_type "DSQC313" -measurement_link 2 \-board_position 1 -measurement_node 1
-name "M8DM1" -use_measurement_board_type "DSQC313" -measurement_link 2 \-board_position 1 -measurement_node 2 #ACC_DATA:-name "M7DM1" -wc_acc 12 -wc_dec 12 -wc_dacc_ratio 1 -wc_ddec_ratio 1 -name "M8DM1" -wc_acc 12 -wc_dec 12 -wc_dacc_ratio 1 -wc_ddec_ratio 1 #BRAKE:-name "M7DM1" -control_off_speed_limit 0.02 -control_off_delay_time 0.3 \-use_brake_type "3HAC029924-007"
-name "M8DM1" -control_off_speed_limit 0.02 -control_off_delay_time 0.3 \-use_brake_type "3HAC029924-007"#SUPERVISION:
-name "M7DM1" -use_supervision_type "M7DM1" -power_up_position_on \-counter_supervision_on -position_supervision_on -speed_supervision_on \-load_supervision_on -jam_supervision_on -thermal_motor_supervision_on \-in_position_range 1 -normalized_zero_speed 0.02 \-dsp_torque_limitation_zero_speed_width 1 \-reference_master_pos_supervision_on
-name "M8DM1" -use_supervision_type "M8DM1" -power_up_position_on \-counter_supervision_on -position_supervision_on -speed_supervision_on \-load_supervision_on -jam_supervision_on -thermal_motor_supervision_on \-in_position_range 1 -normalized_zero_speed 0.02 \-dsp_torque_limitation_zero_speed_width 1 \-reference_master_pos_supervision_on #SUPERVISION_TYPE:
-name "M7DM1" -static_power_up_position_limit 3 \-dynamic_power_up_position_limit 150 -static_position_limit 3 \-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \-teach_mode_speed_max_dsp 0.28
-name "M8DM1" -static_power_up_position_limit 3 \-dynamic_power_up_position_limit 150 -static_position_limit 3 \-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \-teach_mode_speed_max_dsp 0.28 #AXC_FILTER:
-name "M7DM1" -use_feedback_iir2_filter "LP_496" \-use_speed_error_iir2_filter1 "NOTCH_248" \-use_speed_error_iir2_filter2 "LAG_16_72" -use_force_control_filter "ONE" \-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25"
-name "M8DM1" -use_feedback_iir2_filter "LP_496" \-use_speed_error_iir2_filter1 "NOTCH_248" \-use_speed_error_iir2_filter2 "LAG_16_72" -use_force_control_filter "ONE" \-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25"#DRIVE_SYSTEM:
-name "M7DM1" -use_current_transfer_function "cur_tr_1.00" \-use_current_controller "c_c_fast_1" -use_mains "mains" \-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M7DM1" \-use_cable "cable_4.5_30" -use_motor "M7DM1" -use_thermal_duty_cycle "M7DM1" \-use_stress_duty_cycle "M7DM1" -mugu_active
-name "M8DM1" -use_current_transfer_function "cur_tr_1.00" \-use_current_controller "c_c_fast_1" -use_mains "mains" \-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M8DM1" \-use_cable "cable_4.5_30" -use_motor "M8DM1" -use_thermal_duty_cycle "M8DM1" \-use_stress_duty_cycle "M8DM1" -mugu_active #MOTOR:-name "M7DM1" -use_motor_type "3HAC029924-007" -use_motor_calib "M7DM1" -name "M8DM1" -use_motor_type "3HAC029924-007" -use_motor_calib "M8DM1" #MOTOR_CALIB:-name "M7DM1" -com_offset 1.5708 -valid_com_offset -cal_offset 0 -name "M8DM1" -com_offset 1.5708 -valid_com_offset -cal_offset 0 #THERMAL_DUTY_CYCLE:-name "M7DM1" -name "M8DM1" #STRESS_DUTY_CYCLE:-name "M7DM1" -speed_absolute_max 523.5 -torque_absolute_max 7.5 -name "M8DM1" -speed_absolute_max 523.5 -torque_absolute_max 7.5 #UCCM0:-name "M7DM1" -Kp 10 -Kv 1 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \-dec_max_n 100
-name "M8DM1" -Kp 10 -Kv 1 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \-dec_max_n 100 #LCM0:-name "M7DM1" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 -name "M8DM1" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 #
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