ABB Robotics RobotWare 6, Applications Manual

Page: 59 / 82

Description Parameter name Cfg
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. To reduce
search impact as much as possible the gun
will automatically move in the opposite direc-
tion directly after the plate is found. Search reverse dis-
tance
search_reverse_dist
The return distance is set by the parameter
Search reverse distance .
Force Master Control
Description Parameter name Cfg name
The number of points used to define speed limit and
speed loop gain as functions of the torque. Up to 6
points can be defined, but normally it is enough to
use 2. No. of Speed Limits
no_of_posts
The torque levels, corresponding to the ordered tip
force, for which the speed limit and speed loop gain
values are defined. Torque 1- Torque 6
torque_1
-
torque_6
Speed Limit 1 to Speed Limit 6 are used to define the
maximum speed depending on the ordered tip force.
Speed Limit 1-6
speed_lim_1
-
speed_lim_6
Kv 1 to Kv 6 are used to define the speed loop gain
for reducing the speed when the speed limit is ex-
ceeded.
Kv 1-6
Kv_1
-
Kv_6
In most cases, 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 used in the speed
loop. This can in many cases be same value as in
the parameter
Kv of Lag Control Master , but might
in some cases have to be tuned.
Search Ti defines the integration time in the speed
loop during the search process.
Search Ti
search_Ti
To be able to have a fixed search tuning of the speed
loop an integration time can be used in the speed
loop. This can in many cases be same value as in
the parameter
Ti of Lag Control Master , but might in
some cases have to be tuned.
Lag Control Master 0
Description Parameter name Cfg name
The amplification of the position control. For a servo
gun this can normally be kept at default value. Other-
wise, tune it according to the tuning chapter in
Applic-
ation manual - Additional axes and stand alone con-
troller
.
Kp, Gain Position
Loop
Kp
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Application manual - Servo Gun Setup 59
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
4 System parameters
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