ABB Robotics RobotWare 6 Instructions for use

ROBOTICS
Application manual
Servo Gun Setup

Trace back information:
Workspace 21A version a10
Checked in 2021-03-16
Skribenta version 5.4.005

Application manual
Servo Gun Setup
RobotWare 6
Document ID: 3HAC065014-001
Revision: E
© Copyright 2021 ABB. All rights reserved.
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.
© Copyright 2021 ABB. All rights reserved.
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
© Copyright 2021 ABB. All rights reserved.
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
© Copyright 2021 ABB. All rights reserved.
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.
C
• 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.
D
Released with RobotWare 6.12.
• Added information about Movable Gun Arm Search.
E
8 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
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
© Copyright 2021 ABB. All rights reserved.
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
© Copyright 2021 ABB. All rights reserved.
Product documentation
Continued

1 Introduction
1.1 About Servo Gun Setup
Basic approach
For most servo guns it is enough to follow the Servo Gun Setup wizard, see Servo
Gun Setup wizard on page 17. Here you can specify known data or, in many steps
of the wizard, get recommended values for good performance.
Gun families
Within the same family, guns share mechanical characteristics such as motor,
transmission ratio, friction (to some extent), stiffness, inertia, max allowed force,
arm length and max opening distance.
The force may vary somewhat between guns of the same family. The reason is
that the friction level, which has some influence on force, often differs a lot within
the family. Therefore a force calibration and an update of the delta position should
always be done for each individual gun.
Gun design
The design of the gun also affects the tuning procedure. Flexible copper gun arms
driven by linear actuators are the easiest guns to tune. Aluminum arms are rigid
and present a challenge.
The recommendations and start values in this manual are mainly intended for guns
with copper arms.
Application manual - Servo Gun Setup 11
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
1 Introduction
1.1 About Servo Gun Setup

1.2 Requirements
Requirements on motor and resolver
The motor and resolver should comply with the requirements given in Application
manual - Additional axes and stand alone controller.
Spot Servo option required
Use a system with the RobotWare Spot Servo option installed.
Measuring equipment
The following equipment is required:
• Force calibration sensor (required for force measurements)
• Dial indicators (optional for gun deflection measurements)
TuneMaster
The TuneMaster program is useful for studying signals for position, speed, torque,
etc. It is not required when using the Servo Gun Setup wizard, but if there is some
unwanted behavior, TuneMaster is useful for detecting what happens and what
parameter that may need to be tuned.
TuneMaster can be downloaded from:
http://new.abb.com/products/robotics/robotstudio
System parameters
For the normal procedure, the configuration of most system parameters will be
done automatically by the Servo Gun Setup wizard. For some cases, there may
be a need to manually configure system parameters.
A list of the system parameters that are primarily of interest when configuring a
servo gun is presented in System parameters on page 57. Detailed description of
the system parameters are found in Technical reference manual - System
parameters.
How to set system parameters with RobotStudio is described in Operating
manual - RobotStudio.
How to set system parameters with the FlexPendant is described in Operating
manual - IRC5 with FlexPendant.
12 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
1 Introduction
1.2 Requirements

1.3 Preparations
Tool and payload settings
Before using Servo Gun Setup, the tool and the payload must be defined correctly.
Basic verification
Find out if there are any basic problems (i.e. bad parameters or ripple). These
problems must be fixed before the tuning of force and position control is started.
For complete speed tuning, see Application manual - Additional axes and stand
alone controller.
Application manual - Servo Gun Setup 13
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
1 Introduction
1.3 Preparations

This page is intentionally left blank

2 Installation
Installing the Servo Gun Setup Add-in
1 In RobotStudio, click on the Add-Ins tab.
2 Select ServoGun Setup.
3 In the frame to the right, click Add.
xx1800000408
Continues on next page
Application manual - Servo Gun Setup 15
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
2 Installation

Adding Servo Gun Setup to a system
The product ServoGunSetup can be added when creating a new system, or added
to an existing system. In both cases it is done in Installation Manager in
RobotStudio. In the tab Products, add ServoGunSetup in the same way as
RobotWare. For more information about the Installation Manager, see Operating
manual - RobotStudio.
xx1800000410
16 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
2 Installation
Continued

3 Servo Gun Setup wizard
3.1 How to use the Servo Gun Setup wizard
The parts of Servo Gun Setup
Servo Gun Setup is a wizard that step-by-step takes you through the following:
• Load system parameter configuration file
• Change motor type
• Change connection
• Change gun specific data
• Fine calibration
• Tune servo gun, which can be divided into:
- Tune transmission
- Set alarm torque
- Check delta collision position (initial value)
- Force calibration (initial value)
- Tune speed limit
- Tune acceleration
- Check delta collision position (final value)
- Force calibration (final value)
- Tune gun deflection parameters
• Save the configuration
Continues on next page
Application manual - Servo Gun Setup 17
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
3 Servo Gun Setup wizard
3.1 How to use the Servo Gun Setup wizard

Main view
By going through the wizard, step by step, all these parts are being set up
automatically. In some steps, there is a button Main view that takes you to an
overview of the setup wizard:
xx1700002044
Tapping on one of the parts will take you directly to that part of the wizard (if you
only want to use one part of the Servo Gun Setup).
Meaning of buttons
The steps of the Servo Gun Setup provides different choices.
•Next - Continue to the next step.
•Back - return to the previous step.
•Skip - Skips this part of the setup and jumps to the next part.
•Change - Manually enter a value yourself instead of accepting the suggested
value.
•Update - Update the controller with the value suggested by Servo Gun Setup.
18 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
3 Servo Gun Setup wizard
3.1 How to use the Servo Gun Setup wizard
Continued

3.2 Running the Servo Gun Setup wizard
Start Servo Gun Setup
On the FlexPendant, tap the ABB menu and select ServoGun Setup.
xx1700002045
Continues on next page
Application manual - Servo Gun Setup 19
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
3 Servo Gun Setup wizard
3.2 Running the Servo Gun Setup wizard

Load configuration
Load a system parameter configuration file for a servo gun. Browse to select
the desired template file. For more information about template files, see
Application manual - Additional axes and stand alone controller.
If you want to change the name of the servo gun, type the new name.
If you want, you can add the serial number of the servo gun. This will then
be included in the saved data.
xx1700002046
Continues on next page
20 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
© Copyright 2021 ABB. All rights reserved.
3 Servo Gun Setup wizard
3.2 Running the Servo Gun Setup wizard
Continued