ABB Robotics RobotWare 6 Applications Manual page 72

5 TuneMaster and tuning
5.2.1 Movable gun arm search
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Search Ti is active during ramp and search and Search Kv is active during
the search.
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2 Check and tune the speed error filter.
Run the search movement with selected values of Search Kv and Search Ti
from the previous step.
Look at test signal 33. If there is an obvious pattern or noise speed then the
error filter can be lowered to flatten out the speed error. If no such pattern
is seen, keep the value quite high, that is, 15 Hz or higher.
3 Tune the leak and the threshold. Look at signal 1230 in TuneMaster.
Leak:
The goal is to find a value of search_speed_leak_subtrahend where about
50% of the samples (seem in signal 1230) are equal to zero.
In many cases it can be tricky to find start value so it is recommended to do
a rough first tuning followed by a more detailed.
Non wanted behaviors:
• There is a clear trend in the search signal, either increasing or
decreasing. This might be due to a poorly tuned gun. Ti should be
re-tuned in order to remove trends. Try decrease Ti in steps of 50%
until the trends disappears.
• A spike in the beginning of the search signal is much larger than the
rest. This might be due to either a poorly tuned gun or due to a short
If the problem does not go away or the spike is during a longer period
of time try re-tuning the gun by decreasing Ti.
• There are a lot of oscillations in the search signal. Oscillations can be
reduced by increasing Kv. Increase Kv until the signal looks appear to
be noisy rather than oscillatory. By looking at signal 33 (Speed Error)
in TuneMaster it is easier to spot an oscillatory behavior.
• There is a clear pattern that comes cyclic (from gearbox etc) Then
decrease of speed error filter bandwidth (FilterCoeff) can help.
Iterate the leak tuning until signal 1230 looks noisy but controlled.
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Application manual - Servo Gun Setup
3HAC065014-001 Revision: E