ABB Robotics RobotWare 6 Applications Manual page 59

Cfg
search_reverse_dist
Force Master Control
Cfg name
no_of_posts
torque_1 -
torque_6
speed_lim_1 -
speed_lim_6
Kv_1 - Kv_6
search_speed
search_Kv
search_Ti
Lag Control Master 0
Cfg name
Kp
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
Parameter name
Search reverse dis-
tance
Parameter name Description
No. of Speed Limits The number of points used to define speed limit and
speed loop gain as functions of the torque. Up to 6
points can be defined, but normally it is enough to
use 2.
Torque 1- Torque 6 The torque levels, corresponding to the ordered tip
force, for which the speed limit and speed loop gain
values are defined.
Speed Limit 1-6 Speed Limit 1 to Speed Limit 6 are used to define the
maximum speed depending on the ordered tip force.
Kv 1-6 Kv 1 to Kv 6 are used to define the speed loop gain
for reducing the speed when the speed limit is ex-
ceeded.
In most cases, the default value can be used.
Search Speed When a spot instruction is using a search argument,
the gun will start a movement toward the plate with
the speed defined in the parameter Search Speed.
Search Kv Search Kv is the proportional gain in the speed loop
during the search process.
To be able to have a fixed search tuning of the speed
loop a special proportional gain is used in the speed
loop. This can in many cases be same value as in
the parameter Kv of Lag Control Master, but might
in some cases have to be tuned.
Search Ti Search Ti defines the integration time in the speed
loop during the search process.
To be able to have a fixed search tuning of the speed
loop an integration time can be used in the speed
loop. This can in many cases be same value as in
the parameter Ti of Lag Control Master, but might in
some cases have to be tuned.
Parameter name Description
Kp, Gain Position The amplification of the position control. For a servo
Loop gun this can normally be kept at default value. Other-
wise, tune it according to the tuning chapter in Applic-
ation manual - Additional axes and stand alone con-
troller.
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4 System parameters
Description
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. To reduce
search impact as much as possible the gun
will automatically move in the opposite direc-
tion directly after the plate is found.
The return distance is set by the parameter
Search reverse distance.
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