ABB Force control Standard Manuel D'application page 7

8.2.5 Use FC Application ..................................................................................
8.2.6 Use FC Speed Change .............................................................................
8.3 Type FC Sensor ................................................................................................
8.3.1 Type FC Sensor ......................................................................................
8.3.2 Name ....................................................................................................
8.3.3 Force Sensor Mount Unit Name .................................................................
8.3.4 Force Sensor Type ..................................................................................
8.3.5 Force Sensor Frame x - z ..........................................................................
8.3.6 Force Sensor Frame q1 - q4 ......................................................................
8.3.7 Noise level .............................................................................................
8.3.8 Force Sensor Scaling Factor fx, fy, fz, tx, ty, tz ..............................................
8.4 Type FC Kinematics ...........................................................................................
8.4.1 Type FC Kinematics .................................................................................
8.4.2 Name ....................................................................................................
8.4.3 Damping in Force x Direction - Damping in Force z Direction ...........................
8.4.4 Damping in Torque x Direction - Damping in Torque z Direction .......................
8.4.5 Bandwidth of force frame filter ...................................................................
8.4.6 Bandwidth of force loop filter .....................................................................
8.5 Type FC Application ..........................................................................................
8.5.1 Type FC Application ................................................................................
8.5.2 Name ....................................................................................................
8.5.3 Max Ref Force ........................................................................................
8.5.4 Max Ref Force Change .............................................................................
8.5.5 Max Ref Torque ......................................................................................
8.5.6 Max Ref Torque Change ...........................................................................
8.5.7 Max Ref TCP Speed ................................................................................
8.5.8 Max Ref Rot Speed ..................................................................................
8.5.9 Max Ref TCP Acc ....................................................................................
8.5.10 Max Ref Rot Acc .....................................................................................
8.5.11 Speed superv override .............................................................................
8.5.12 Largest measured contact force .................................................................
8.5.13 Lowest measured contact force .................................................................
8.5.14 Largest measured contact torque ...............................................................
8.5.15 Lowest measured contact torque ...............................................................
8.5.16 Keep contact force at stop ........................................................................
8.5.17 Max Press TCP Speed .............................................................................
8.5.18 Max Press Rot Speed ...............................................................................
8.6 Type FC Speed Change .....................................................................................
8.6.1 Type FC Speed Change ...........................................................................
8.6.2 Name ....................................................................................................
8.6.3 Speed ratio min ......................................................................................
8.6.4 No of speed levels ...................................................................................
8.6.5 Speed ratio delta .....................................................................................
8.6.6 Speed max update period .........................................................................
8.6.7 Feedback type ........................................................................................
8.6.8 Use Fdb LP filter ....................................................................................
8.6.9 Fdb LP filter bandwidth ............................................................................
8.6.10 Maximum TCP speed ...............................................................................
8.6.11 Recover rule fdb ratio ...............................................................................
8.6.12 Decrease rule safety fdb ratio ....................................................................
8.6.13 Decrease rule safety fdb time ....................................................................
8.6.14 Fdb trend step size .................................................................................
8.6.15 Decrease rule 1 fdb ratio ...........................................................................
8.6.16 Decrease rule 1 fdb trend ..........................................................................
8.6.17 Decrease rule 2 fdb ratio ...........................................................................
8.6.18 Decrease rule 2 fdb trend ..........................................................................
8.6.19 Increase rule 1 fdb ratio ............................................................................
8.6.20 Increase rule 1 fdb trend ...........................................................................
8.6.21 Increase rule 2 fdb ratio ............................................................................
Manuel sur les applications - Force control Standard for GoFa
3HAC083267-004 Révision: D
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