Friction Compensation Lead Through Factor - ABB IRB 14000 Operating Manual

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.
Limitations
Friction compensation lead through factor is only used for the following robots:
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
3HAC052986-001 Revision: E
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.
• IRB 14000
© Copyright 2015-2018 ABB. All rights reserved.
5 System parameters
5.3.8 Friction compensation lead through factor
RobotWare - OS
67