ABB Robotics RobotWare 6 Instructions d'utilisation

ROBOTICS

Application manual

Servo Gun Setup

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Checked in 2021-03-16

Skribenta version 5.4.005

Application manual

Servo Gun Setup

RobotWare 6

Document ID: 3HAC065014-001

Revision: E

Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not

be construed as a commitment by ABB. ABB assumes no responsibility for any errors

that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damage to persons

or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's

written permission.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

Specifications subject to change without notice.

Table of contents

7Overview of this manual ...................................................................................................................

9Product documentation ....................................................................................................................

111 Introduction

111.1 About Servo Gun Setup ...................................................................................... 121.2 Requirements ................................................................................................... 131.3 Preparations ....................................................................................................

152 Installation

173 Servo Gun Setup wizard

173.1 How to use the Servo Gun Setup wizard ................................................................ 193.2 Running the Servo Gun Setup wizard .................................................................... 533.3 Commissioning mode ........................................................................................

574 System parameters

675 TuneMaster and tuning

675.1 TuneMaster ...................................................................................................... 715.2 Tuning with movable gun arm search .................................................................... 715.2.1 Movable gun arm search .......................................................................... 745.2.2 RAPID references for MGAS ..................................................................... 745.2.2.1 SearchMoveCheck ....................................................................... 755.2.2.2 TuneDetectionParams ..................................................................

776 Motor type file

79Index

Application manual - Servo Gun Setup 5

3HAC065014-001 Revision: E

Table of contents

This page is intentionally left blank

Overview of this manual

About this manual

This manual describes the steps of the Servo Gun Setup wizard that covers the

setup necessary for most servo guns. This manual also contains a subset of the

motion parameters used to configure a servo gun on the IRC5 controller. For a

complete documentation on these and other motion parameters, see the Application

manual - Additional axes and stand alone controller.

Usage

This manual should be used during setup of a servo gun for an IRC5 controller.

Who should read this manual?

The intended audience are servo gun manufacturers or advanced users, who need

to tune a servo gun.

Prerequisites

The Servo Gun Setup wizard requires RobotWare 6.06 or later.

The reader should be familiar with:

• IRC5 programming and usage

• Additional axes (see Application manual - Additional axes and stand alone

controller)

• RobotWare Spot Servo (see Application manual - Spot options)

• TuneMaster

References

Document IDReference

3HAC051016-001Application manual - Additional axes and stand alone controller

3HAC050979-001Application manual - Spot options

3HAC050959-001Application manual - Mechanical Unit Manager

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

3HAC050948-001Technical reference manual - System parameters

3HAC050917-001Technical reference manual - RAPID Instructions, Functions and

Data types

3HAC063590-001Application manual - TuneMaster

Note

The document numbers that are listed for software documents are valid for

RobotWare 6. Equivalent documents are available for RobotWare 5.

Continues on next page

Application manual - Servo Gun Setup 7

3HAC065014-001 Revision: E

Overview of this manual

Revisions

DescriptionRevision

First edition.A

Added installation description.B

• Added possibility to run speed limit and acceleration tuning also in

manual full speed mode.

• Delta position check restricted only to manual operating mode.

• Corrected a problem with transmission check.

• Misc. documentation improvements.

• Added possibility to enter a decimal value in transmission check.

• Added possibility to enter acceleration data manually.

• Reduction of Teach Max Speed Main/DSP at the end of tuning.

• Added speed limit information displayed on TPU.

• Max torque reduced at the end of tuning.

• Added possibility to run force calibration again after completed tuning.

• Other minor improvements.

Released with RobotWare 6.12.

• Added information about Movable Gun Arm Search.

8 Application manual - Servo Gun Setup

3HAC065014-001 Revision: E

Overview of this manual

Continued

Product documentation

Categories for user documentation from ABB Robotics

The user documentation from ABB Robotics is divided into a number of categories.

This listing is based on the type of information in the documents, regardless of

whether the products are standard or optional.

Tip

All documents can be found via myABB Business Portal, www.abb.com/myABB.

Product manuals

Manipulators, controllers, DressPack/SpotPack, and most other hardware is

delivered with a Product manual that generally contains:

• Safety information.

• Installation and commissioning (descriptions of mechanical installation or

electrical connections).

•Maintenance (descriptions of all required preventive maintenance procedures

including intervals and expected life time of parts).

• Repair (descriptions of all recommended repair procedures including spare

parts).

• Calibration.

• Decommissioning.

•Reference information (safety standards, unit conversions, screw joints, lists

of tools).

• Spare parts list with corresponding figures (or references to separate spare

parts lists).

• References to circuit diagrams.

Technical reference manuals

The technical reference manuals describe reference information for robotics

products, for example lubrication, the RAPID language, and system parameters.

Application manuals

Specific applications (for example software or hardware options) are described in

Application manuals. An application manual can describe one or several

applications.

An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful).

•What is included (for example cables, I/O boards, RAPID instructions, system

parameters, software).

• How to install included or required hardware.

• How to use the application.

• Examples of how to use the application.

Continues on next page

Application manual - Servo Gun Setup 9

3HAC065014-001 Revision: E

Product documentation

Operating manuals

The operating manuals describe hands-on handling of the products. The manuals

are aimed at those having first-hand operational contact with the product, that is

production cell operators, programmers, and troubleshooters.

10 Application manual - Servo Gun Setup

3HAC065014-001 Revision: E

Product documentation

Continued

Table des matières

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