ABB IRB 6620LX Product Manual page 112

2 Installation and commissioning
2.4.14 Optimizing the performance
Continued
Optimize the servo control
The argument Type in the instruction TuneServo can be defined as TUNE_DF to
improve the accuracy, by damping oscillations of the axes due to mechanical
resonances. TUNE_DF can be adjusted within the RAPID program during execution.
This means that you can have different settings for TuneServo for different robot
positions and movements. Adjusting TUNE_DF correctly will not affect the cycle
time and path accuracy in any negative way.
The argument Type in the instruction TuneServo can be defined as TUNE_DH to
improve the smoothness of the robot path, by decreasing the effective bandwidth.
Using TUNE_DH affects the path in corner zones, increasing the cycle time in fine
points but not along the entire path.
For more information about TuneServo see Technical reference manual - RAPID
Instructions, Functions and Data types.
112
Tip
The ABB software TuneMaster is a good tool for finding the optimal value of
TUNE_DF. TuneMaster is included in the RobotWare distribution.
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Product manual - IRB 6620LX
3HAC035737-001 Revision: P