Tuning With Movable Gun Arm Search; Movable Gun Arm Search - ABB Robotics RobotWare 6 Applications Manual

5.2 Tuning with movable gun arm search

5.2.1 Movable gun arm search

About the functionality
The tuning of moveable gun arm search is done by repeating search movements
and changing system parameters.
Run the RAPID instruction SearchMoveCheck to perform a test run while finding
values for parameters. The following test signals are useful in the tuning.
Signal
Speed reference
Speed feedback
Speed error
Search signal
During the movement from GunOpenPos between GunOpenPos and 5 mm before
closed the signals should be observed.
Tuning of movable gun arm search is done in the following steps.
System parameters
The following system parameters are used for movable gun arm search:
See the descriptions for
page
Procedure
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
1 Tune the speed loop gain.
2 Check and tune the speed error filter.
3 Tune the leakage.
4 Verify the threshold.
• Search Leak Subtrahend
• Search filter bandwidth
• Search Threshold
• Search reverse distance
• Search Speed
• Search Kv
• Search Ti
Force Master on page 57
59.
1 Tune the speed gain.
Note that Search Kv and Search Ti are assumed to be tuned in a regular
manner for a fast step response without overshoot or oscillations, see below
for an example.
Rule of thumb: search Kv = 1.4* LCM0 Kv = 1,400 x Motor Inertia
During the search sequence the servo gains of speed loop replaces the
values set in LCM0.
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5 TuneMaster and tuning
5.2.1 Movable gun arm search
Signal number Scale
4 0.1
6 0.1
33 1
1230 1
and Force Master Control on
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