Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
61
Robot Parameter File
The robot parameters are stored in the *.par file. This file defines the
robot parameters for the controller. Below is an example parameter file,
annotated to show the line locations of the parameters. Your parameter
file might have different values.
Note that most parameters list three values. The first value for the T-axis,
the second value is for the R-axis, and the last value is for the Z axis. For
example, when the T axis is homed, a speed of 100 is used, but when the
R axis is homed, a speed of 50 is used.
ATM-1111 Serial number of the robot
9600 Baud rate
100,50,20 Home speed
1000,400,50 Home acceleration
2000,2000,2000 Encoder resolution
0,0,0 Reserved – Not used
4300,3000,2000 Operational speed
10025,10012,14012 Operational acceleration
200,200,300 Error limit or following error
50,30,40 GN, Proportional gain
0,0,0 Servo acceleration forward
4,4,4 KI, Integral gain or Response to error
9999,9999,9999 TL – Torque limit
160,120,160 ZR, Derivative gain or Damping element
16896,16896,16896 Ramp value, controls radius of the S-curve
0,-4500,0 Customized home position
0,-31432,0 Home offset in encoder counts
9000,16775,3937 Mechanical ratio used in scaling
0,10460,0 Arm length, total of both arm links for R
4,1500,0 Parameters for optional Z-axis brake
1044,499,63 Operational deceleration
-1000,-10460,-1000 Negative software motion limit
36000,10460,13200 Positive software motion limit
0,0,0 Scanner offset
0,0,0 Reserved – Not used
Some parameters, such as the Customized home position, are set when
you teach the station positions. You can reset other parameters, such as
speed and acceleration with commands. You can also change parameters
by editing the parameter file; refer to the User Interface Manual.
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