ABB Robotics RobotWare 6 Applications Manual page 62

4 System parameters
Continued
SG Process
Cfg name
min_close_time_adjust
close_position_adjust
pre_sync_delay_time
max_motor_torque
post_sync_time
calib_mode
calib_force_high
calib_force_low
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62
Parameter name
Close Time Adjust
Close Position Ad-
just
Force Ready Delay
Max Force Control
Motor Torque
Post-synchronization
Time
Calibration Mode
Calibration Force
High
Calibration Force
Low
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Description
Constant time adjustment (s), positive or
negative, of the moment when the gun tips
reach contact during a gun closure. This value
is normally zero. May be used to delay the
closing slightly when the synchronized pre
closing is used for welding.
Normally not used.
When the tool tips reach the position (plate
thickness) ordered by the close instruction,
the force control starts. This tool tip position
can be adjusted with Close Position Adjust to
make the force control start earlier.
Normally set to 0.001 to avoid that the gun hits
the plates before force mode.
Constant time delay (s) before sending the
weld ready signal after reaching the pro-
grammed force.
Normally set to 0.
Maximum allowed motor torque (Nm) during
force control. The parameter will protect the
gun from too high programmed force, by redu-
cing the resulting motor torque to this upper
level. A warning will be logged whenever this
happens. The value must not be set higher
than the Torque abs. max (type Stress duty
cycle) which defines the maximum output of
motor torque during both force and position
control.
This value is also used as torque limit in
manual mode to avoid hard crashes when
jogging.
Release time anticipation (s) of the next robot
movement after a weld. This parameter can
be tuned to synchronize the gun opening with
the next robot movement. The synchronization
may fail if the parameter is set too high.
Can normally be kept at zero.
The number of closings performed during a
Tipwear calibration. Normally 2 closings will
be ok. An increase may improve the accuracy
of thickness detection for some servo guns.
The maximum tip force (N) used during a Tip-
Wear calibration.
The recommendation is that this value should
be between 2/3 of max force and max force.
The minimum tip force (N) used during a Tip-
Wear calibration. For best result of the thick-
ness detection, it is recommended to use the
minimum programmed weld force.
The recommendation is that this value should
be about a 1/3 of max force but never lower
than the minimum force used for the gun.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E