ABB Robotics RobotWare 6, Руководство по применению

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5.2 Tuning with movable gun arm search
5.2.1 Movable gun arm search
About the functionality
The tuning of moveable gun arm search is done by repeating search movements
and changing system parameters.
Run the RAPID instruction
SearchMoveCheck
to perform a test run while finding
values for parameters. The following test signals are useful in the tuning.
Scale Signal number Signal
0.1 4 Speed reference
0.1 6 Speed feedback
1 33 Speed error
1 1230 Search signal
During the movement from
GunOpenPos
between
GunOpenPos
and 5 mm before
closed the signals should be observed.
Tuning of movable gun arm search is done in the following steps.
1 Tune the speed loop gain.
2 Check and tune the speed error filter.
3 Tune the leakage.
4 Verify the threshold.
System parameters
The following system parameters are used for movable gun arm search:
• Search Leak Subtrahend
• Search filter bandwidth
• Search Threshold
• Search reverse distance
• Search Speed
• Search Kv
• Search Ti
See the descriptions for Force Master on page 57 and Force Master Control on
page 59 .
Procedure
1 Tune the speed gain.
Note that Search Kv and Search Ti are assumed to be tuned in a regular
manner for a fast step response without overshoot or oscillations, see below
for an example.
Rule of thumb: search Kv = 1.4* LCM0 Kv = 1,400 x Motor Inertia
During the search sequence the servo gains of speed loop replaces the
values set in LCM0.
Continues on next page
Application manual - Servo Gun Setup 71
3HAC065014-001 Revision: E
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5 TuneMaster and tuning
5.2.1 Movable gun arm search