ABB IRB 14000, Руководство по эксплуатации

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5.3.8 Friction compensation lead through factor
Parent
Friction compensation lead through factor belongs to the type Robot , in the topic
Motion .
Cfg name
friction_comp_lead_through_factor
Description
Friction compensation lead through factor determines how soft a robot should be
in lead through mode.
Usage
A higher value makes the robot softer in lead through mode and a lower value
makes the robot less soft.
Setting a high value can make the robot sensitive to errors such as wrong payload
in the tool definition. The robot can then start to drift by itself.
Setting the value to 0 removes all friction compensation in lead through mode.
Note
This parameter does not need a reboot to apply the changes. Hence the tests of
different levels can be done directly after changing the parameter value.
Limitations
Friction compensation lead through factor is only used for the following robots:
• IRB 14000
Configuring this parameter in any other robot will not have any effect.
Allowed values
A value between 0.0 and 1.0.
Default value is 0.6.
Operating manual - IRB 14000 67
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
5 System parameters
5.3.8 Friction compensation lead through factor
RobotWare - OS