ABB Robotics RobotWare 6, Руководство по применению

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1.2 Requirements
Requirements on motor and resolver
The motor and resolver should comply with the requirements given in Application
manual - Additional axes and stand alone controller .
Spot Servo option required
Use a system with the RobotWare Spot Servo option installed.
Measuring equipment
The following equipment is required:
• Force calibration sensor (required for force measurements)
• Dial indicators (optional for gun deflection measurements)
TuneMaster
The TuneMaster program is useful for studying signals for position, speed, torque,
etc. It is not required when using the Servo Gun Setup wizard, but if there is some
unwanted behavior, TuneMaster is useful for detecting what happens and what
parameter 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 configuring a
servo gun is presented in
System parameters on page 57 . Detailed description of
the system parameters are found in Technical reference manual - System
parameters .
How to set system parameters with RobotStudio is described in Operating
manual - RobotStudio .
How to set system parameters with the FlexPendant is described in Operating
manual - IRC5 with FlexPendant .
12 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
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1 Introduction
1.2 Requirements