ABB MU 80, Руководство по эксплуатации продукта

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4 Configuration
4.1 Loading configuration files
Introduction to configuration files
Template configuration files are included in the delivery with the motor units and
gear units. The configurations for motor units and gear units can be tuned before
running in production to optimize performance.
The template files are located in the following directory in the RobotWare
installation:
•
...\RobotPackages\RobotWare_RPK_<version>\utility\MotorUnits\
•
...\RobotPackages\RobotWare_RPK_<version>\utility\GearUnits\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Tip
In RobotWare 6.05 (and later) the Add-In for motor units and gear units can be
selected directly in
Installation Manager . The tuning is done after installation.
Limitations
The values for acceleration and deceleration used in the template files might need
to be verified. For gear units see
Dimensioning gear units on page 71 . For motor
units, see Application manual - Additional axes and stand alone controller .
For MID gear units, the working range must be carefully tested and if needed
redefined. If the defined value is wrong, there is a risk that the MID crashes into
the end stop.
Acceleration torque limit for motor units
The acceleration torque limit for the motor units is by default reduced to protect
connected equipment. The acceleration torque limit can be increased, see
Product
specification - Motor Units and Gear Units .
Redefine the system parameter Torque Absolute Max in the type Stress Duty Cycle
(topic Motion ) to increase the acceleration torque limit.
File name convention
The configuration files use a naming convention, based on the following data:
• Configuration topic
• Type of unit
• Drive unit and drive module (system parameters Drive Unit and Drive Module )
Continues on next page
Product manual - Motor Units and Gear Units 69
3HAC040148-001 Revision: K
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4 Configuration
4.1 Loading configuration files