ABB Robotics RobotWare 6, Applications Manual

Page: 63 / 82

Description Parameter name Cfg name
The wait time (s) during a calibration before
the positional gun tip correction is done. Re-
commended value ca: 0.5 s. Calibration Time
calib_time
Number of stored forces in the force VS motor
torque table. The minimum value allowed is
2. Number of Stored
Forces
no_of_active_db_posts
Normally this is set to between 2 and 4.
Gun tip force 1 (N) - Gun tip force 10 (N). Tip Forces 1 - 10
squeeze_force_1
-
squeeze_force_10
Motor torque 1 (Nm) - Motor torque 10 (Nm). Motor Torque 1 - 10
squeeze_torque_1
-
squeeze_torque_10
Stress Duty Cycle
Description Parameter name Cfg name
The absolute highest motor speed to be used.
(rad/s) Speed Absolute Max
speed_absolute_max
The absolute highest motor torque to be used.
(Nm) Torque Absolute
Max
torque_absolute_max
If
torque_absolute_max
is too high, it may
result in a configuration error at restart. To
avoid this, make sure that:
torque_absolute_max
< √(3) *
ke
*
i_max.
Automatically reduce the 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_supervision_on
Load supervision On. Load Supervision
load_supervision_on
Power up position supervision On,
default is Off. Power Up Position
Supervision
power_up_position_on
Keep at default. In Position Range
in_position_range
Keep at default. Zero Speed (%)
normalized_zero_speed
Determines whether this joint effects
forced gain control. Affects Forced Con-
trol
joint_affect_forced_Kp
Normally not used for servo gun.
Keep at default value.
The upper position limit for forced
gain control. Forced on Position
Limit
Kp_forced_on_limit
Normally not used for servo gun.
Keep at default value.
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Application manual - Servo Gun Setup 63
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
4 System parameters
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