ABB Robotics RobotWare 6, Руководство по применению

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1 Introduction
1.1 About Servo Gun Setup
Basic approach
For most servo guns it is enough to follow the Servo Gun Setup wizard, see Servo
Gun Setup wizard on page 17 . Here you can specify known data or, in many steps
of the wizard, get recommended values for good performance.
Gun families
Within the same family, guns share mechanical characteristics such as motor,
transmission ratio, friction (to some extent), stiffness, inertia, max allowed force,
arm length and max opening distance.
The force may vary somewhat between guns of the same family. The reason is
that the friction level, which has some influence on force, often differs a lot within
the family. Therefore a force calibration and an update of the delta position should
always be done for each individual gun.
Gun design
The design of the gun also affects the tuning procedure. Flexible copper gun arms
driven by linear actuators are the easiest guns to tune. Aluminum arms are rigid
and present a challenge.
The recommendations and start values in this manual are mainly intended for guns
with copper arms.
Application manual - Servo Gun Setup 11
3HAC065014-001 Revision: E
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1 Introduction
1.1 About Servo Gun Setup