ABB Robotics RobotWare 6, Руководство по применению

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SG Process
Description Parameter name Cfg name
Constant time adjustment (s), positive or
negative, of the moment when the gun tips
reach contact during a gun closure. This value
is normally zero. May be used to delay the
closing slightly when the synchronized pre
closing is used for welding. Close Time Adjust
min_close_time_adjust
Normally not used.
When the tool tips reach the position (plate
thickness) ordered by the close instruction,
the force control starts. This tool tip position
can be adjusted with
Close Position Adjust to
make the force control start earlier.
Close Position Ad-
just
close_position_adjust
Normally set to 0.001 to avoid that the gun hits
the plates before force mode.
Constant time delay (s) before sending the
weld ready signal after reaching the pro-
grammed force. Force Ready Delay
pre_sync_delay_time
Normally set to 0.
Maximum allowed motor torque (Nm) during
force control. The parameter will protect the
gun from too high programmed force, by redu-
cing the resulting motor torque to this upper
level. A warning will be logged whenever this
happens. The value must not be set higher
than the
Torque abs. max (type Stress duty
cycle ) which defines the maximum 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 parameter is set too high. Post-synchronization
Time
post_sync_time
Can normally be kept at zero.
The number of closings performed during a
Tipwear calibration. Normally 2 closings will
be ok. An increase may improve the accuracy
of thickness detection for some servo guns. Calibration Mode
calib_mode
The maximum tip force (N) used during a Tip-
Wear calibration. Calibration Force
High
calib_force_high
The recommendation is that this value should
be between 2/3 of max force and max force.
The minimum tip force (N) used during a Tip-
Wear calibration. For best result of the thick-
ness detection, it is recommended to use the
minimum programmed weld force. Calibration Force
Low
calib_force_low
The recommendation is that this value should
be about a 1/3 of max force but never lower
than the minimum force used for the gun.
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62 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
4 System parameters
Continued