ABB Robotics RobotWare 6 Applications Manual page 32

3 Servo Gun Setup wizard
3.2 Running the Servo Gun Setup wizard
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Set alarm torque
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The gun will move slowly to measure the friction torque. An estimated alarm
torque is then presented.
Tap Accept to use the estimated value.
Tap Change to type a value.
Tap Skip to keep the original value.
xx1700002065
Note
Depending on the gravity direction and mass of the moveable gun arm, the
measured value may need to be increased manually.
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Application manual - Servo Gun Setup
3HAC065014-001 Revision: E