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ABB Robotics RobotWare 6, Applications Manual

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ABB Robotics RobotWare 6 Applications Manual Download Page 15

2 Installation

Installing the Servo Gun Setup Add-in

1 In RobotStudio, click on the

Add-Ins

tab.

2 Select

ServoGun Setup

.

3 In the frame to the right, click

Add

.

xx1800000408

Continues on next page

Application manual - Servo Gun Setup

15

3HAC065014-001 Revision: E

© Copyright 2021 ABB. All rights reserved.

2 Installation

Summary of Contents for RobotWare 6

Page 1: ...ROBOTICS Application manual Servo Gun Setup ...

Page 2: ...Trace back information Workspace 21A version a10 Checked in 2021 03 16 Skribenta version 5 4 005 ...

Page 3: ...Application manual Servo Gun Setup RobotWare 6 Document ID 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved Specifications subject to change without notice ...

Page 4: ...ranty by ABB for losses damage to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtaine...

Page 5: ... 3 2 Running the Servo Gun Setup wizard 53 3 3 Commissioning mode 57 4 System parameters 67 5 TuneMaster and tuning 67 5 1 TuneMaster 71 5 2 Tuning with movable gun arm search 71 5 2 1 Movable gun arm search 74 5 2 2 RAPID references for MGAS 74 5 2 2 1 SearchMoveCheck 75 5 2 2 2 TuneDetectionParams 77 6 Motor type file 79 Index Application manual Servo Gun Setup 5 3HAC065014 001 Revision E Copyri...

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Page 7: ...age Additional axes see Application manual Additional axes and stand alone controller RobotWare Spot Servo see Application manual Spot options TuneMaster References Document ID Reference 3HAC051016 001 Application manual Additional axes and stand alone controller 3HAC050979 001 Application manual Spot options 3HAC050959 001 Application manual Mechanical Unit Manager 3HAC050941 001 Operating manual...

Page 8: ...imal value in transmission check Added possibility to enter acceleration data manually Reduction of Teach Max Speed Main DSP at the end of tuning Added speed limit information displayed on TPU Max torque reduced at the end of tuning Added possibility to run force calibration again after completed tuning Other minor improvements D Released with RobotWare 6 12 Added information about Movable Gun Arm...

Page 9: ...ning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and system parameters Application ma...

Page 10: ...he manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 10 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved Product documentation Continued ...

Page 11: ...ewhat between guns of the same family The reason is that the friction level which has some influence on force often differs a lot within the family Therefore a force calibration and an update of the delta position should always be done for each individual gun Gun design The design of the gun also affects the tuning procedure Flexible copper gun arms driven by linear actuators are the easiest guns ...

Page 12: ... that may need to be tuned TuneMaster can be downloaded from http new abb com products robotics robotstudio System parameters For the normal procedure the configuration of most system parameters will be done automatically by the Servo Gun Setup wizard For some cases there may be a need to manually configure system parameters A list of the system parameters that are primarily of interest when confi...

Page 13: ...e any basic problems i e bad parameters or ripple These problems must be fixed before the tuning of force and position control is started For complete speed tuning see Application manual Additional axes and stand alone controller Application manual Servo Gun Setup 13 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 1 Introduction 1 3 Preparations ...

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Page 15: ... In RobotStudio click on the Add Ins tab 2 Select ServoGun Setup 3 In the frame to the right click Add xx1800000408 Continues on next page Application manual Servo Gun Setup 15 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 2 Installation ...

Page 16: ...es it is done in Installation Manager in RobotStudio In the tab Products add ServoGunSetup in the same way as RobotWare For more information about the Installation Manager see Operating manual RobotStudio xx1800000410 16 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 2 Installation Continued ...

Page 17: ...ervo gun which can be divided into Tune transmission Set alarm torque Check delta collision position initial value Force calibration initial value Tune speed limit Tune acceleration Check delta collision position final value Force calibration final value Tune gun deflection parameters Save the configuration Continues on next page Application manual Servo Gun Setup 17 3HAC065014 001 Revision E Copy...

Page 18: ... Meaning of buttons The steps of the Servo Gun Setup provides different choices Next Continue to the next step Back return to the previous step Skip Skips this part of the setup and jumps to the next part Change Manually enter a value yourself instead of accepting the suggested value Update Update the controller with the value suggested by Servo Gun Setup 18 Application manual Servo Gun Setup 3HAC...

Page 19: ...n the FlexPendant tap the ABB menu and select ServoGun Setup xx1700002045 Continues on next page Application manual Servo Gun Setup 19 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard ...

Page 20: ... stand alone controller If you want to change the name of the servo gun type the new name If you want you can add the serial number of the servo gun This will then be included in the saved data xx1700002046 Continues on next page 20 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Con...

Page 21: ...e see Motor type file on page 77 1 Browse to select the file for your servo gun motor then tap OK xx1700002047 2 When a file is selected tap Next xx1700002048 Continues on next page Application manual Servo Gun Setup 21 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 22: ...xt xx1700002049 Change gun specific data The default values comes from Stress Duty Cycle in the motor type file The Temporary Max Torque is used during the first steps of the tuning until it is known how much torque is needed to reach the desired max force If the max Continues on next page 22 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Serv...

Page 23: ...values Then tap Next xx1700002050 2 A restart is required for the changes to take effect Tap Restart xx1700002051 Continues on next page Application manual Servo Gun Setup 23 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 24: ... xx1700002052 Tune servo gun 1 To start the routine that tunes the servo gun press the enabling device on the FlexPendant and tap Tune Servo Gun xx1700002053 Continues on next page 24 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 25: ...l and work object is used tap Accept xx1700002055 Continues on next page Application manual Servo Gun Setup 25 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 26: ...smission 1 If the transmission gear ratio is known tap Modify and type the value To automatically detect the transmission tap Check xx1700002057 Continues on next page 26 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 27: ...hen pressing OK xx1700002058 3 Observe the direction of the movement If the gun opened tap Open If the gun closed tap Close xx1700002059 Continues on next page Application manual Servo Gun Setup 27 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 28: ...position xx1700002060 5 Type the upper limit of the servo gun opening and tap OK xx1700002061 Continues on next page 28 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 29: ...pe the measured value xx1700002062 7 Tap OK to continue xx1700002063 Continues on next page Application manual Servo Gun Setup 29 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 30: ... or less non linear It may be necessary to accept a position error in the upper range The important thing is that they are accurate in the lower range See the following illustration Continues on next page 30 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 31: ...ch is longer for example 140 mm than the measured distance between the tips for example 138 mm The greater the angle the x gun opens to the greater the difference will be Continues on next page Application manual Servo Gun Setup 31 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 32: ...alue Tap Skip to keep the original value xx1700002065 Note Depending on the gravity direction and mass of the moveable gun arm the measured value may need to be increased manually Continues on next page 32 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 33: ...ero position is necessary to have an initial value for thickness estimation Tap Check to perform this xx1700002066 Continues on next page Application manual Servo Gun Setup 33 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 34: ...ap then tap 0 1 mm to close the gap When the gun is closed tap Closed Note It is important that there is no force applied on the servo gun tips xx1700002067 Continues on next page 34 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 35: ...tial value For this initial force calibration it is enough to use two measurements at different force levels Repeat the procedure until approximately reaching the max force typically 2 3 times Continues on next page Application manual Servo Gun Setup 35 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 36: ...e later in the wizard 1 Tap OK to continue with the force calibration xx1700002069 2 Tap Setup xx1700002070 Continues on next page 36 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 37: ...ter the thickness of the sensor CAUTION Incorrect value of the sensor thickness can damage the servo gun To change the time that the servo gun maintain the specified force tap 4 and enter the new time When the setup is done tap Back xx1700002071 4 To start the force calibration tap Run 5 Verify that the setup and tap OK if it is correct Continues on next page Application manual Servo Gun Setup 37 ...

Page 38: ...on the force sensor xx1700002073 7 If the measurement was successful and you read the value tap OK If you missed reading the value on the force sensor just tap Retry xx1700002074 Continues on next page 38 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 39: ...e If more than two measurements are used repeat for each measurement with increasing force 10 Tap OK xx1700002076 Continues on next page Application manual Servo Gun Setup 39 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 40: ...as been reached typically 2 3 times Then tap End If the temporary max torque see Change gun specific data on page 22 was set too low you will be asked if this value can be increased in order to achieve the desired force Continues on next page 40 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Set...

Page 41: ...you study the course of events in detail For more information see Speed limit tuning on page 68 1 Set the robot controller in Auto or Manual full speed mode and press the start button on the FlexPendant to resume the wizard Continues on next page Application manual Servo Gun Setup 41 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun...

Page 42: ...during force mode A suggested speed limit is presented Tap Accept to set this value as speed limit or tap Change to set the speed limit manually xx1700002081 Continues on next page 42 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 43: ...ion tuning on page 69 The robot controller shall be in Auto or Manual full speed mode 1 Make sure the Upper Joint Bound and Transmission are correct and then tap OK to perform an automatic tuning of the acceleration xx1700002082 Continues on next page Application manual Servo Gun Setup 43 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Serv...

Page 44: ...leration limit is unknown tap OK to detect it automatically xx1700002083 3 Tap OK to start the tuning xx1700002084 Continues on next page 44 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 45: ...alue Now that force speed and acceleration are calibrated the servo gun s zero position has probably changed Perform a new delta position check See Check delta position initial value on page 33 Continues on next page Application manual Servo Gun Setup 45 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 46: ... Force calibration initial value on page 35 with the difference that this time it is more important with the accuracy of the force calibration xx1700002313 Continues on next page 46 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 47: ...on but if there is measure this too xx1700001573 Dial indicator for detecting movement in x direction X Dial indicator for detecting movement in z direction Z Continues on next page Application manual Servo Gun Setup 47 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 48: ...e this tap Change and enter desired force value Observe the dial indicators and tap Check to start the gun deflection tuning xx1700002087 Continues on next page 48 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 49: ... the measured deflection in Z direction and tap OK xx1700002089 5 Type the measured deflection in X direction and tap OK 6 Type the measured deflection in Y direction normally 0 and tap OK Continues on next page Application manual Servo Gun Setup 49 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 50: ...ction values you have entered 9 Tap OK to confirm the saving of the deflection parameters End the Tune Servo Gun routine Tap OK to step out of the Tune Servo Gun routine xx1700002092 Continues on next page 50 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 51: ...ion for the file To save the servo gun data and all system parameters in the topic Motion tap Save complete MOC and select name and location for the file xx1700002226 Continues on next page Application manual Servo Gun Setup 51 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 52: ...ee Application manual Mechanical Unit Manager End the Servo Gun Setup wizard The setup of the servo gun is now finished Close the wizard by tapping the cross in the upper right corner 52 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizard 3 2 Running the Servo Gun Setup wizard Continued ...

Page 53: ...ode Start the Servo Gun Setup wizard Load the configuration file saved from previous configuration with the Servo Gun Setup wizard Browse to select the file If you want to change the name of the servo gun type the new name If you want you can add the serial number of the servo gun This will then be included in the saved data xx1800000011 Continues on next page Application manual Servo Gun Setup 53...

Page 54: ... Active at Start Up and Disconnect at Deactivate only needs to be changed if using a tool changer Tap Next xx1800000012 4 A restart is required for the changes to take effect Tap Restart xx1700002051 5 After the restart start the Servo Gun Setup wizard again Continues on next page 54 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Set...

Page 55: ...e to save the configuration 8 To save only the servo gun data to file tap Save Servo Gun Types and select name and location for the file To save the servo gun data and all system parameters in the topic Motion tap Save complete MOC and select name and location for the file Application manual Servo Gun Setup 55 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 3 Servo Gun Setup wizar...

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Page 57: ...minal Acceleration although it often is possible to have a slightly higher value of Nominal Deceleration since the friction always helps to decelerate the movement Arm Description Parameter name Cfg name Upper bound for the servo gun in meters The gun cannot be opened beyond this limit during jogging or program execution Upper Joint Bound upper_joint_bound Note X guns are non linear in the upper r...

Page 58: ... considered that the ordered force is reached Force Detection Speed force_ready_detection_ speed Tip If thickness check fails both Force Detec tion Bandwidth and Force Detection Speed can be reduced This will slightly increase the cycle time Delays the starting of torque ramp when force control is started Delay Ramp delay_ramp Tip If the speed signal shows a big overshoot just before the mode chan...

Page 59: ...es the default value can be used When a spot instruction is using a search argument the gun will start a movement toward the plate with the speed defined in the parameter Search Speed Search Speed search_speed Search Kv is the proportional gain in the speed loop during the search process Search Kv search_Kv To be able to have a fixed search tuning of the speed loop a special proportional gain is u...

Page 60: ...Calibration Offset cal_offset Can be updated by moving the gun to its calibration position and then fine calibrate Yes If com_offset is valid Commutator Offset Valid valid_com_offset Yes if cal_offset is valid Calibration Offset Valid valid_cal_offset Motor Type These parameters should not be edited manually and should only be changed after a confirmation from motor supplier and ABB Description Pa...

Page 61: ...ion and iron losses at speed2 The unit is Nm torque_losses_at_speed2i Total torque losses due to friction and iron losses at speed3 The unit is Nm torque_losses_at_speed3i The speed at which torque_losses_at_speed1 is defined in rad s speed1i The speed at which torque_losses_at_speed2 is defined in rad s speed2i The speed at which torque_losses_at_speed3 is defined in rad s speed3i Maximum tempera...

Page 62: ...ximum output of motor torque during both force and position control Max Force Control Motor Torque max_motor_torque This value is also used as torque limit in manual mode to avoid hard crashes when jogging Release time anticipation s of the next robot movement after a weld This parameter can be tuned to synchronize the gun opening with the next robot movement The synchronization may fail if the pa...

Page 63: ...e max speed if there is no more available current at higher speed speed_max_reduction_ active Supervision Description Parameter name Cfg name Speed supervision should be On Speed Supervision speed_supervision_on Position supervision should be On Position Supervision position_supervision_on Counter supervision On Counter Supervision counter_supervision_on Jam supervision On Jam Supervision jam_supe...

Page 64: ...tor side static_position_limit Normally not used for servo gun Keep at default value Position error limit at max speed the unit is radians on motor side dynamic_postion_limit Normally not used for servo gun Keep at default value Speed error limit at zero speed max speed static_normalized_speed_ limit Speed error limit at max speed max speed dynamic_normalized_speed_ limit Defines the maximum allow...

Page 65: ...and add a margin for noise and vibra tions Transmission Description Parameter name Cfg name Gear ratio between motor and gun specified as motor rotation in radians per meter linear move 1050 denotes that when the motor rotates 1050 radians the axis moves 1 m Transmission Gear Ratio transm_joint Application manual Servo Gun Setup 65 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 4...

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Page 67: ... Application manual TuneMaster Define test signals with TuneMaster The following test signals should be defined for the servo gun Recommended scale Signal 0 1 6 speed 1 9 torque_ref 1000 200 position 1 55 positive torque_limit 1 56 negative torque_limit 5 5 force mode 0 1 4 speed_ref Continues on next page Application manual Servo Gun Setup 67 3HAC065014 001 Revision E Copyright 2021 ABB All right...

Page 68: ...Speed limit signal A Torque signal B Force control mode signal C Speed signal D Large pushback from the servo gun is shown as a negative speed when the speed should be zero and full force should be applied This can cause the actual force to differ from the ordered force E Continues on next page 68 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 5...

Page 69: ...n opening and when closing should be fairly symmetrical If gravity affects the servo gun the acceleration torque for opening and closing will not be totally symmetrical If there are large deviations from symmetry verify that the commutation of the servo gun is correct see Application manual Additional axes and stand alone controller The torque during acceleration should be approximately 80 of the ...

Page 70: ... B Torque signal C Negative torque limit signal D Torque during acceleration when opening the gun E Torque during deceleration when closing the gun F 70 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 5 TuneMaster and tuning 5 1 TuneMaster Continued ...

Page 71: ... the speed error filter 3 Tune the leakage 4 Verify the threshold System parameters The following system parameters are used for movable gun arm search Search Leak Subtrahend Search filter bandwidth Search Threshold Search reverse distance Search Speed Search Kv Search Ti See the descriptions for Force Master on page 57 and Force Master Control on page 59 Procedure 1 Tune the speed gain Note that ...

Page 72: ...easing This might be due to a poorly tuned gun Ti should be re tuned in order to remove trends Try decrease Ti in steps of 50 until the trends disappears A spike in the beginning of the search signal is much larger than the rest This might be due to either a poorly tuned gun or due to a short If the problem does not go away or the spike is during a longer period of time try re tuning the gun by de...

Page 73: ...hreshold When search_speed_leak_subtrahend has been set it is time for checking the threshold Run search movement with all kinds of angles of the gun with respect to gravity and see what they highest value of 1230 is Set threshold to 1 5 2 times higher than that value Possible problems The guns detects false collisions Increase the Threshold parameter If the false detections are removed but the fo...

Page 74: ...s The following example illustrates the instruction SearchMoveCheck SearchMoveCheck gun1 GunOpenPos 100 Arguments SearchMoveCheck gunnum GunOpenPos gunnum Data type num Used gun number Corresponding to the element number in the gundata array curr_gundata in the module SWUSER SYS GunOpenPos Data type num Optional parameter The gun will open to the specified position mm only servo guns Syntax Search...

Page 75: ... SearchSpeed FilterCoeff gunnum Data type num Used gun number Corresponding to the element number in the gundata array curr_gundata in the module SWUSER SYS Threshold Data type num The value that should trigger the search stop Start with high value to avoid false alarms during initial tuning LeakSubtrahend Data type num Value used to control the leak rate of the search signal seen in test signal 1...

Page 76: ...ession IN of num Threshold expression IN of num LeakSubtrahend expression IN of num SearchKv expression IN of num SearchTi expression IN of num SearchSpeed expression IN of num FilterCoeff expression IN of num 76 Application manual Servo Gun Setup 3HAC065014 001 Revision E Copyright 2021 ABB All rights reserved 5 TuneMaster and tuning 5 2 2 2 TuneDetectionParams Continued ...

Page 77: ...0 00165 torque_0 18 ke 0 98365 ke_temp_coef_20 0 00035 ke_stability_coef_20 0 03 ke_tolerance_min 0 05 ke_tolerance_max 0 05 ke_red_2i0 0 06 i_max 19 5 torque_losses_at_speed1 0 2 torque_losses_at_speed2 0 3 torque_losses_at_speed3 0 4 speed1 104 72 speed2 209 44 speed3 314 16 r_stator_20 1 225 r_stator_temp_coef_20 0 00263 l_stator 0 00325 STRESS_DUTY_CYCLE name SGUN_1 speed_absolute_max 314 torq...

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Page 79: ...ation 53 load configuration 20 M Main view 18 motor type 21 motor type file 77 N Next button 18 non linear guns 30 R requirements 12 RobotStudio 12 S save configuration 51 Servo Gun Setup wizard 17 Skip button 18 speed limit 41 system parameters 12 57 T Test Signal Viewer 67 transmission 26 TuneMaster 12 41 43 tune servo gun 24 U Update button 18 W wizard 17 X x gun 30 Application manual Servo Gun...

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Page 82: ...ne 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC065014 001 Rev E en Copyright 2021 ABB All rights reserved Specifications subject to change without notice ...

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