ABB Robotics RobotWare 6 Applications Manual page 73

Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
An example of a correctly tuned gun can be seen in the following figure, note
that even though Kv is increased by about 200% an oscillatory behavior is
seen and this is probably due to ripple effects in the motor.
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In the figure above, about 50% of the samples in the search signal are equal
to zero. The Leak parameter is correctly tuned. Oscillations is due to ripple.
Less ripple in the speed signal means less oscillations in the search signal.
Note that speed is scaled by 0.1 and search signal is scaled by 10. The
maximal value of the search signal is 0.23, threshold is therefore set to 0.5.
4 Verify the threshold.
When search_speed_leak_subtrahend has been set it is time for checking
the threshold.
Run search movement with all kinds of angles of the gun with respect to
gravity and see what they highest value of 1230 is. Set threshold to 1.5-2
times higher than that value.
Possible problems:
• The guns detects false collisions. Increase the Threshold parameter.
If the false detections are removed but the force (either measured or
seen by detecting a plate) is too high tuning of Ti and Kv might need
a better tuning or the speed needs to be decreased.
5 Proceed with the configuration.
6 When all tuning is done, all values should be saved to the configuration.
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5 TuneMaster and tuning
5.2.1 Movable gun arm search
Continued
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