ABB Robotics RobotWare 6 Applications Manual page 64

4 System parameters
Continued
Cfg name
Kp_forced_off_limit
Supervision Type
Cfg name
static_power_up_position_
limit
fc_position_limit
fc_speed_limit_factor
dynamic_power_up_position_
limit
static_position_limit
dynamic_postion_limit
static_normalized_speed_
limit
dynamic_normalized_speed_
limit
max_overload_time
max_jam_time
teach_mode_speed_max_main
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64
Parameter name
Forced off Position
Limit
Parameter name
-
-
-
Dynamic Power Up
Position Limit
-
-
-
-
-
Max Jam Time
Teach Max Speed
Main
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Description
The lower limit for forced gain control.
Normally not used for servo gun.
Keep at default value.
Description
Static power up position error limit
at zero speed.The unit is radians,
Min.=0 and Max.=30.
Normally not used for servo gun.
Keep at default value.
Distance (in meters) that the gun can
bend in force. Normally at default
value.
Makes speed supervision less
sensitive in force mode. Normally at
default value.
Dynamic power up position error
limit at zero speed, the unit is radi-
ans.
Normally not used for servo gun.
Keep at default value.
Position error limit at zero speed, the
unit is radians on motor side.
Normally not used for servo gun.
Keep at default value.
Position error limit at max speed, the
unit is radians on motor side.
Normally not used for servo gun.
Keep at default value.
Speed error limit at zero speed. (%
max. speed).
Speed error limit at max speed (%
max speed).
Defines the maximum allowed time
with maximum torque while moving.
The unit is seconds, Min.=0 and
Max.=20.
Defines the maximum allowed time
with maximum torque at zero speed.
The unit is seconds, Min.=0 and
Max.=20.
Maximum ordered speed ratio in
teach mode (% max speed). Min.=0,
Max.=1, Deafult=0.15.
This should be set according to
chapter Limit peripheral speed of
external axis in Application manu-
al - Additional axes and stand alone
controller.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E