FILE=INI
Parameter.ini
1352
////DH_PARAMETER:
_h0=203;
_d1=80;
_h2=260;
_d3=80;
_h4=288;
_h5=64.5;
_d6=40;
////MOTOR_DIR:
_dir1=-1;
_dir2=-1;
_dir3=1;
_dir4=1;
_dir5=-1;
_dir6=-1;
////JOINT_PUL:
_j1pul=20992;
_j2pul=6143;
_j3pul=7360;
_j4pul=9600;
_j5pul=1600;
_j6pul=320000;
////VELOCITY:
_ac=6000.0;
_de=6000.0;
_vpp=6000.0;
_vp=10;
////MODE:
_pve=YIJIA1101
_getCodeMode=0;
_runCodeMode=1;
_prmTPUL=120;
_resetMustOK=1
//REPOS
_rePosJ1=0;
_rePosJ2=0;
_rePosJ3=0;
_rePosJ4=0;
_rePosJ5=0;
_rePosJ6=0;
//IRQ
_iIRQ=1
_sIRQ=1
_flagSoftRst=0
//LIMIT
_sLp0=5000
_sLn0=-10
_sLp1=1400
_sLn1=-10
_sLp2=580
_sLn2=-10
_sLp3=360
_sLn3=-360
_sLp4=180
_sLn4=-180
_sLp5=359
_sLn5=-359
_boot=G07 POWEROFF=0
_boot=G06 SCAN=POS
_boot=G06 BOOT=RST