YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

YASKAWA DX200 Instructions Manual Manual pdf 14 page image

1 Outline of Function1.2 Automatic Adjustment Function of Force Control Parameter1-3174506-1CDHW1482138MotoFit EngineeringSupport Tool1.2.2 Adjustment MethodThe operation of the automatic adjustment function of force controlparameter consists of the following two steps. The parameters with theasterisk mark (*) are the adjustment condition data, and listed in Table 6-2"Adjustment Condition Data" on page 6-3.1. Tuning Step 1Obtains a limit value of damping parameter to maintain the stablecontact condition of the workpiece during the contact time Tc1 [sec]*with a small force, without divergent. After starting from the initialdamping parameter Dinit*, adjustment is performed to obtain thevalue in which the force waveform has no emission.Fig. 1-3: Operation of Tuning Step 12. Tuning Step 2In this step, the force command is given to allow repetitive contact ofworkpiece, enabling to automatically adjust to the dampingparameter so that the response of force FB, the force toward theforce command at that time, becomes excellent. As operation, thefollowing sequence is repeated; "The Push operation is performedwith force command Fref* during the contact time Tc2 [sec]*, andthen the force command is set to zero during the interval time Ti[sec]*". Searching is started from the damping parameter obtainedin the Tuning Step 1, and the damping parameter is adjusted to thevalue in which the settling time of the force FB (time until the forceFB follows the command) is the shortest. The adjustment continuesuntil the contact count reaches the upper limit Nmax* or until thesearch width of the damping parameter becomes the completionjudgment threshold Ethr*.Fig. 1-4: Operation of Tuning Step 2ForceSmallForceTimeForceSmallForceTimeOK (Stable contact) NG (Unstable contact)Divergent (applying force increases)RattlingAdjust to aconvergent valueDamping changedby amplitudeForceRepeatscontactsForce sensorWorkpiecesTimeAdjust to dampingproperty of early followForcecommand ForceresponseCondition B(Optimum value)Condition C(Response delay)Condition A(Vibrational)14 of 102