Publicité
3 Configuration
3.2 Exemple de configuration
Suite
Paramètre
Damping in Force z Direction
Damping in Torque x Direction
Damping in Torque y Direction
Damping in Torque z Direction
FC Application
Paramètre
Name
Max Ref Force
Max Ref Force Change
Max ref Torque
Max Ref Torque Change
Max Ref TCP Speed
Max Ref Rot Speed
Max Ref TCP Acc
Max Ref Rot Acc
Speed Superv Override
Largest measured contact force
Lowest measured contact force
Largest measured contact
torque
Lowest measured contact
torque
Max Press TCP Speed
Max Press Rot speed
FC Speed Change
Paramètre
Name
Speed ratio min
No of speed levels
Speed ratio delta
Speed max update period
Feedback type
Use Fdb LP filter
Fdb LP filter Bandwidth
Maximum TCP speed
Recover rule fdb ratio
Decrease rule safety fdb ratio
Suite page suivante
24
Valeur
3000
400
400
400
Valeur
fc_application1
1000
1000
400
200
5
5
1
1
3
1000
3
400
1
5
5
Valeur
fc_speed_change1
0.1
2
0.07
0.08
Yes
30
0.3
1.3
1.5
Manuel sur les applications - Force control Standard for GoFa
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Unité/Note
Ns/m
Nms/rad
Nms/rad
Nms/rad
Unité/Note
-
N
N/s
Nm
Nm/s
m/s
rad/s
2
m/s
2
rad/s
-
N
N
Nm
Nm
m/s
rad/s
Unité/Note
-
-
-
-
s
-
Hz
m/s
-
-
3HAC083267-004 Révision: D
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