
Operation
81
I gain F
: The force controller can be tuned with this integral gain parameter. If any overshoots or vibrations
occur, try lowering the gain value.
I gain T
: The torque controller can be tuned with this integral gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
D gain F
: The force controller can be tuned with this derivative gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
D gain T
: The torque controller can be tuned with this derivative gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
This command has no return value.
Guidelines to PID force/torque controller settings:
The PID force/torque controller continuously calculates the error value for the force/torque measured by
the sensor, compared to the values set by the
F/T Control
command, and applies correction based on
this error.
P gain F
and
P gain T
: The proportional term produces a correction that is proportional to the current
error value. Increasing this parameter, has the following effects: faster reaction, overreaction, lower error,
stability degradation.
I gain F
and
I gain T
: The integral term produces a correction that is proportional to both, the magnitude,
and duration of the past error values. Increasing this parameter, has the following effects: faster reaction,
overreaction, lower error, stability degradation.
D gain F
and
D gain T
: The derivative term produces a correction that is proportional to the slope or
changing speed of past error values. Increasing this parameter, has the following effects: less
overreaction, stability increase.
If the force control is too slow, that is, the tool occasionally leaves the surface instead of continually
touching it, try increasing the
P gain F, P gain T,
I gain F
and
I gain T
values.
Содержание VGC10
Страница 1: ...USER MANUAL FOR UR ROBOTS ORIGINAL INSTRUCTION EN v1 05...
Страница 28: ...Installation 28 5 Initialize the robot...
Страница 152: ...Hardware Specification 152 RG2 FT GrippingSpeedGraph GripperWorkingRange The dimensionsare in millimeters...
Страница 156: ...Hardware Specification 156 RG2 GrippingSpeedGraph RG2 Work Range...
Страница 159: ...Hardware Specification 159 RG6 GrippingSpeedGraph RG6 Work Range...
Страница 185: ...Hardware Specification 185 Gecko All dimensionsare in mm and inches...
Страница 186: ...Hardware Specification 186 RG2 FT All dimensionsare in mm and inches...
Страница 187: ...Hardware Specification 187 RG2 All dimensionsare in mm and inches...
Страница 188: ...Hardware Specification 188 RG6 All dimensionsare in mm and inches...
Страница 189: ...Hardware Specification 189 VG10 All dimensionsare in mm and inches...
Страница 190: ...Hardware Specification 190 All dimensionsare in mm and inches...
Страница 191: ...Hardware Specification 191 VGC10 All dimensionsare in mm and inches...
Страница 192: ...Hardware Specification 192 All dimensionsare in mm and inches...
Страница 193: ...Hardware Specification 193 Quick Changer Tool side All dimensionsare in mm and inches...
Страница 200: ...Certifications 200 10 Certifications...
Страница 201: ...Certifications 201...
Страница 202: ...Certifications 202...
Страница 203: ...Certifications 203...
Страница 204: ...Certifications 204...
Страница 205: ...Certifications 205...