ABB Robotics RobotWare 6 Applications Manual page 63

Cfg name
calib_time
no_of_active_db_posts
squeeze_force_1
-
squeeze_force_10
squeeze_torque_1
-
squeeze_torque_10
Stress Duty Cycle
Cfg name
speed_absolute_max
torque_absolute_max
speed_max_reduction_
active
Supervision
Cfg name
speed_supervision_on
position_supervision_on
counter_supervision_on
jam_supervision_on
load_supervision_on
power_up_position_on
in_position_range
normalized_zero_speed
joint_affect_forced_Kp
Kp_forced_on_limit
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
Parameter name
Calibration Time
Number of Stored
Forces
Tip Forces 1 - 10
Motor Torque 1 - 10
Parameter name
Speed Absolute Max
Torque Absolute
Max
-
Parameter name
Speed Supervision
Position Supervision
Counter Supervision
Jam Supervision
Load Supervision
Power Up Position
Supervision
In Position Range
Zero Speed (%)
Affects Forced Con-
trol
Forced on Position
Limit
© Copyright 2021 ABB. All rights reserved.
4 System parameters
Description
The wait time (s) during a calibration before
the positional gun tip correction is done. Re-
commended value ca: 0.5 s.
Number of stored forces in the force VS motor
torque table. The minimum value allowed is
2.
Normally this is set to between 2 and 4.
Gun tip force 1 (N) - Gun tip force 10 (N).
Motor torque 1 (Nm) - Motor torque 10 (Nm).
Description
The absolute highest motor speed to be used.
(rad/s)
The absolute highest motor torque to be used.
(Nm)
If torque_absolute_max is too high, it may
result in a configuration error at restart. To
avoid this, make sure that:
torque_absolute_max < √(3) * ke * i_max.
Automatically reduce the max speed if there
is no more available current at higher speed.
Description
Speed supervision should be On.
Position supervision should be On.
Counter supervision On.
Jam supervision On.
Load supervision On.
Power up position supervision On,
default is Off.
Keep at default.
Keep at default.
Determines whether this joint effects
forced gain control.
Normally not used for servo gun.
Keep at default value.
The upper position limit for forced
gain control.
Normally not used for servo gun.
Keep at default value.
Continues on next page
Continued
63