ABB Robotics RobotWare 6 Applications Manual page 60

4 System parameters
Continued
Cfg name
Kv
Ti
ffw_mode
Motor Calibration
Cfg name
com_offset
cal_offset
valid_com_offset
valid_cal_offset
Motor Type
These parameters should not be edited manually and should only be changed after
a confirmation from motor supplier and ABB.
Cfg name
pole_pairs
inertia
torque_0
ke
i_max
r_stator_20
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60
Parameter name Description
Kv, Gain speed loop The amplification of the velocity control. A high value
gives better high frequency stiffness, better response
speed and low overshoot. If the value is too high the
servo gun will vibrate.
This is setup by the wizard according to the motor
parameters. If the gun behaves poorly, tune it accord-
ing to the tuning chapter in Application manual - Addi-
tional axes and stand alone controller.
Tip: Use TuneMaster in Additional Axis mode when
tuning Kv.
Ti, Integration Time Integration time in the speed regulation loop.
Speed Loop
Keep the standard value of 0.1 s.
FFW Mode Feed Forward mode.
For servo gun, always use Spd (1).
Parameter name Description
Commutator Offset The motor angle when voltage is applied between
the phases S and T. For ABB motors Commutator
offset should always be 1.5708.
Calibration Offset The offset value used to indicate physical zero po-
sition of the gun.
Can be updated by moving the gun to its calibration
position and then fine calibrate.
Commutator Offset Yes If com_offset is valid.
Valid
Calibration Offset Yes if cal_offset is valid.
Valid
Parameter name
Pole Pairs
Inertia
Stall Torque
ke Phase to Phase
Max Current
Phase Resistance
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Description
Number of pole pairs.
Motor and resolver inertia on motor
2
side. The unit is kgm .
The torque the motor can produce at
no speed and during an infinite time.
The unit is Nm.
The induced voltage (phase to phase)
that corresponds to the speed 1 rad/s.
Max. current without irreversible de-
magnetization. The unit is A rms.
Stator phase resistance at 20 degrees
Celsius. If the resistance is measured
phase-to-phase, the value should be
divided by 2. The unit is ohm.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E