ABB Robotics RobotWare 6, Руководство по применению

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4 System parameters
About this section
This section only describes the system parameters that are most important for
servo guns. How to configure additional axis in general is described in
Application
manual - Additional axes and stand alone controller . All system parameters are
described in Technical reference manual - System parameters .
Acceleration Data
Choose values for the acceleration parameters so that the gun can be controlled
even if the friction is sightly higher and also works in worst case gravity position.
Description Parameter name Cfg name
Servo gun acceleration in m/s
2
. Nominal Acceleration
wc_acc
If the value is too high, the motor will reach the
torque limit and result in poor path performance.
Setting the value too low will create problems during
the release force movement.
The recommendation is to have about 20% margin
to torque limit during acceleration phase of the
movement.
Servo gun deceleration in m/s
2
. Nominal Deceleration
wc_dec
It is recommended to use the same value for Nom-
inal Deceleration as for and Nominal Acceleration
(although it often is possible to have a slightly
higher value of
Nominal Deceleration since the
friction always helps to decelerate the movement).
Arm
Description Parameter name Cfg name
Upper bound for the servo gun (in meters).
The gun cannot be opened beyond this limit
during jogging or program execution. Upper Joint Bound
upper_joint_bound
Note: X-guns are non-linear in the upper
range, see step 8 on page 30 .
This parameter defines the minimum opening
stroke (in meters). Set it to -0.005. A negative
value is needed in order to keep the gun in-
side the working range if a stop occurs during
force control. Lower Joint Bound
lower_joint_bound
Force Master
Description Parameter name Cfg
This defines the bandwidth (in Hz) of a low
pass filter used to filter the reference values. References Band-
width
bandwidth_ramping
A too high value can make the servo gun vi-
brate due to irregular movements. A too low
value will make the servo gun slow. In most
cases, the default value can be used.
Parameter is kept for backward compatibility.
Always use
Ramp Time .
Use Ramp Time
ramp_time_switch
Continues on next page
Application manual - Servo Gun Setup 57
3HAC065014-001 Revision: E
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4 System parameters