ABB Robotics RobotWare 6 Applications Manual page 58

4 System parameters
Continued
Cfg
ramp_torque_ref_
closing
ramp_time
bandwidth_lp
alarm_torque
col_speed
distance_to_contact_
position
force_ready_detection_
bandwidth
force_ready_detection_
speed
delay_ramp
s e a r c h _ s p e e d _ l e a k _ s u b t r a h e n d
s e a r c h _ s p e e d _ f i l t e r _ b a n d w i d t h
search_speed_threshold
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58
Parameter name
Ramp when In-
crease Force
Ramp Time
Collision LP Band-
width
Collision Alarm
Torque
Collision Speed
Collision Delta Posi-
tion (m)
Force Detection
Bandwidth
Force Detection
Speed
Delay Ramp
Search Leak Subtra-
hend
Search filter band-
width
Search Threshold
© Copyright 2021 ABB. All rights reserved.
Description
Parameter is kept for backward compatibility.
Should not be used.
Determines how fast force is built up while
closing the tool.
This should normally be between 0.050 and
0.090 s. Setting too high value could cause
skidding/sliding.
This defines the bandwidth (in Hz) of a low
pass filter used during tip wear calibration.
In most cases, the default value can be used.
Determines how hard the tool tips will be
pressed together during the first gun closing
of new tips calibrations and tool change calib-
rations.
Calculated by the wizard.
Determines the servo gun speed (m/s) during
the first gun closing of new tips calibrations
and tool change calibrations.
Defines the distance the servo tool has gone
beyond the contact position when the motor
torque has reached the value specified in Col-
lision Alarm Torque.
The feedback motor speed is filtered through
a LP filter with this bandwidth. This is to avoid
that variations in the speed will trigger the
force detection too early.
When the feedback motor speed is below this
value, it is considered that the ordered force
is reached.
Tip: If thickness check fails, both Force Detec-
tion Bandwidth and Force Detection Speed
can be reduced . This will slightly increase the
cycle time.
Delays the starting of torque ramp when force
control is started.
Tip: If the speed signal shows a big overshoot
just before the mode change of force mode,
this parameter can be increased to avoid de-
grading performance of squeeze mode.
When search for plate is activate in a spot
welding instruction, the servo gun will perform
a movement towards the plate and stops im-
mediately when the plate is found. The plate
is considered to be found when the signal
value is bigger than Search Threshold.
To avoid false search stops due to noisy sig-
nals the speed error is filtered by a Low Pass
filter. The cut-off frequency is set by the para-
meter Search filter bandwidth.
When search for plate is activate in a spot
welding instruction, the servo gun will perform
a movement towards the plate and stops im-
mediately when the plate is found. The plate
is considered to be found when the signal
value is bigger than Search Threshold.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E