ABB SafeMove2, Руководство по применению, Страница: 209 / 238

Tuning the parameters
If the SafeMove position supervision is triggered for the axis, take the following
actions to verify and possibly tune the parameters:
1 Check that the load of the robot and additional load on the axis is included
in the configuration.
2 Make sure no mechanical problem is present, for example giving abnormal
friction.
3 If possible, use TuneMaster and log the test signals 17 (motor angular position
reference) and 18 (measured motor angular position) for the axis. If
TuneMaster is not available, the
Servo Lag can be increased (according to
step 3b ).
a Move the axis and measure the Servo Delay Time . Compute the
corresponding Servo Delay Factor :
Servo Delay Factor = Servo Delay Time / 4
where it is assumed that Servo Delay Time is measured in milliseconds.
Use the value in the SafeMove configuration.
b If the supervision is still triggered, increase the Servo Lag until
supervision is not triggered.
Tuning a non ABB additional axis
If attempting to use a non ABB additional axis, start with doing a tuning of the axis.
To be able to reduce servo lag below the configured maximum allowed value during
the tuning, make sure to set the parameter
FFW Mode (feed forward mode) to Spd
(speed) or Trq (torque). For more information about tuning an additional axis see
Application manual - Additional axes and stand alone controller .
WARNING
The system is unstable and therefore dangerous during the tuning process, since
bad parameters or parameter combinations may be used! The safety procedures
of the robot system must be carefully followed throughout the tuning process.
Application manual - Functional safety and SafeMove2 209
3HAC052610-001 Revision: P
© Copyright 2016-2020 ABB. All rights reserved.
10 Reference information
10.3 Servo Delay Factor and Servo Lag
Continued