ABB Robotics RobotWare 6 Applications Manual page 68

5 TuneMaster and tuning
5.1 TuneMaster
Continued
Speed limit tuning
When tuning the speed limit, you want to allow as fast speed as possible without
getting a pushback from the servo gun that can severely reduce the accuracy of
the force control.
Example of bad speed limit
xx1700001576
A
B
C
D
E
Continues on next page
68
Speed limit signal
Torque signal
Force control mode signal
Speed signal
Large pushback from the servo gun is shown as a negative speed when
the speed should be zero and full force should be applied. This can cause
the actual force to differ from the ordered force.
© Copyright 2021 ABB. All rights reserved.
E
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
A
B
C
D