System Parameters - ABB Robotics RobotWare 6 Applications Manual

4 System parameters

About this section
This section only describes the system parameters that are most important for
servo guns. How to configure additional axis in general is described in Application
manual - Additional axes and stand alone controller. All system parameters are
described in Technical reference manual - System parameters.
Acceleration Data
Choose values for the acceleration parameters so that the gun can be controlled
even if the friction is sightly higher and also works in worst case gravity position.
Cfg name
wc_acc
wc_dec
Arm
Cfg name
upper_joint_bound
lower_joint_bound
Force Master
Cfg
bandwidth_ramping
ramp_time_switch
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
Parameter name Description
Nominal Acceleration Servo gun acceleration in m/s
If the value is too high, the motor will reach the
torque limit and result in poor path performance.
Setting the value too low will create problems during
the release force movement.
The recommendation is to have about 20% margin
to torque limit during acceleration phase of the
movement.
Nominal Deceleration Servo gun deceleration in m/s
It is recommended to use the same value for Nom-
inal Deceleration as for and Nominal Acceleration
(although it often is possible to have a slightly
higher value of Nominal Deceleration since the
friction always helps to decelerate the movement).
Parameter name
Upper Joint Bound
Lower Joint Bound
Parameter name
References Band-
width
Use Ramp Time
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4 System parameters
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Description
Upper bound for the servo gun (in meters).
The gun cannot be opened beyond this limit
during jogging or program execution.
Note: X-guns are non-linear in the upper
range, see step 8 on page
This parameter defines the minimum opening
stroke (in meters). Set it to -0.005. A negative
value is needed in order to keep the gun in-
side the working range if a stop occurs during
force control.
Description
This defines the bandwidth (in Hz) of a low
pass filter used to filter the reference values.
A too high value can make the servo gun vi-
brate due to irregular movements. A too low
value will make the servo gun slow. In most
cases, the default value can be used.
Parameter is kept for backward compatibility.
Always use Ramp Time.
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