Tunedetectionparams - ABB Robotics RobotWare 6 Applications Manual

5.2.2.2 TuneDetectionParams

Usage
TuneDetectionParams is used to change search parameters during tuning
procedures. A tuning procedure is typically used to find an optimal value for a
parameter. A test movement (that is, a program execution with a
SearchMoveCheck) is repeated when using different parameter tune values set
up by TuneDetectionParams.
Basic examples
The following example illustrates the instruction TuneDetectionParams.
Arguments
gunnum
Data type: num
Used gun number. Corresponding to the element number in the gundata array
curr_gundata in the module SWUSER.SYS.
\Threshold
Data type: num
The value that should trigger the search stop. Start with high value to avoid false
alarms during initial tuning.
\LeakSubtrahend
Data type: num
Value used to control the leak rate of the search signal seen in test signal 1230.
Start with low value too see the search signal and gradually increase.
\SearchKv
Data type: num
Proportional gain in the speed regulation loop during the search part of the
movement.
\SearchTi
Data type: num
Integration time in the speed regulation loop during the search part of the
movement.
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
FOR i FROM 1 TO 10 DO
TuneDetectionParams
Gun1\Threshold:=10000\LeakSubtrahend:=1e-10\SearchKv:=
0.1*i;
SearchMoveCheck gun1, \GunOpenPos:=100;
ENDFOR
TuneDetectionParams gunnum [\Threshold] [\LeakSubtrahend]
[\LeakSubtrahend] [\SearchKv] [\SearchTi] [\SearchSpeed]
[\FilterCoeff]
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5 TuneMaster and tuning
5.2.2.2 TuneDetectionParams
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