ABB Robotics RobotWare 6, Руководство по применению

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Example of good speed limit
A
B
C
D
E
F
xx1700001577
Torque signal A
Force control mode signal B
Speed limit signal C
Speed signal D
No pushback from the servo gun. E
A reduction in the torque when the speed reach the speed limit is per-
fectly normal. F
Acceleration tuning
During acceleration tuning, it is important to look at the signal for the torque.
• The torque during acceleration when opening and when closing should be
fairly symmetrical. If gravity affects the servo gun, the acceleration torque
for opening and closing will not be totally symmetrical. If there are large
deviations from symmetry, verify that the commutation of the servo gun is
correct (see
Application manual - Additional axes and stand alone controller ).
• The torque during acceleration should be approximately 80% of the torque
limit.
Continues on next page
Application manual - Servo Gun Setup 69
3HAC065014-001 Revision: E
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5 TuneMaster and tuning
5.1 TuneMaster
Continued