ABB Robotics RobotWare 6 Applications Manual page 69

Example of good speed limit
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Acceleration tuning
During acceleration tuning, it is important to look at the signal for the torque.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
Torque signal
Force control mode signal
Speed limit signal
Speed signal
No pushback from the servo gun.
A reduction in the torque when the speed reach the speed limit is per-
fectly normal.
• The torque during acceleration when opening and when closing should be
fairly symmetrical. If gravity affects the servo gun, the acceleration torque
for opening and closing will not be totally symmetrical. If there are large
deviations from symmetry, verify that the commutation of the servo gun is
correct (see Application manual - Additional axes and stand alone controller).
• The torque during acceleration should be approximately 80% of the torque
limit.
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5 TuneMaster and tuning
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5.1 TuneMaster
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