ABB Robotics RobotWare 6, Applications Manual

Page: 58 / 82

Description Parameter name Cfg
Parameter is kept for backward compatibility.
Should not be used. Ramp when In-
crease Force
ramp_torque_ref_
closing
Determines how fast force is built up while
closing the tool. Ramp Time
ramp_time
This should normally be between 0.050 and
0.090 s. Setting too high value could cause
skidding/sliding.
This defines the bandwidth (in Hz) of a low
pass filter used during tip wear calibration. Collision LP Band-
width
bandwidth_lp
In most cases, the default value can be used.
Determines how hard the tool tips will be
pressed together during the first gun closing
of new tips calibrations and tool change calib-
rations. Collision Alarm
Torque
alarm_torque
Calculated by the wizard.
Determines the servo gun speed (m/s) during
the first gun closing of new tips calibrations
and tool change calibrations. Collision Speed
col_speed
Defines the distance the servo tool has gone
beyond the contact position when the motor
torque has reached the value specified in
Col-
lision Alarm Torque .
Collision Delta Posi-
tion (m)
distance_to_contact_
position
The feedback motor speed is filtered through
a LP filter with this bandwidth. This is to avoid
that variations in the speed will trigger the
force detection too early. Force Detection
Bandwidth
force_ready_detection_
bandwidth
When the feedback motor speed is below this
value, it is 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 change of force mode,
this parameter can be increased to avoid de-
grading performance of squeeze mode.
When search for plate is activate in a spot
welding instruction, the servo gun will perform
a movement towards the plate and stops im-
mediately when the plate is found. The plate
is considered to be found when the signal
value is bigger than
Search Threshold .
Search Leak Subtra-
hend
search_speed_leak_subtrahend
To avoid false search stops due to noisy sig-
nals the speed error is filtered by a Low Pass
filter. The cut-off frequency is set by the para-
meter
Search filter bandwidth .
Search filter band-
width
search_speed_filter_bandwidth
When search for plate is activate in a spot
welding instruction, the servo gun will perform
a movement towards the plate and stops im-
mediately when the plate is found. The plate
is considered to be found when the signal
value is bigger than
Search Threshold .
Search Threshold
search_speed_threshold
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58 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
4 System parameters
Continued