Hello,
I would like to learn more about the autotune function as there is not much detail provided on the robot or in manuals.
QuoteDisplay MoreAfter Autotuning is started, the servo gun will perform the following by opening and closing the gun:
- Acceleration settings
- Inertia measurements
- Friction measurements
- Spring constant measurements
- Force control gain settings
- Contact speed settings
- (Profile option is selected) Profile internal parameter settings1
1. Where are the parameters saved?
2. When tuning completes successfully, there is a page with values displayed before power cycle. What do these values mean?
3. How often should a gun be autotuned in a production environment?
4. Are there any system variables that need to be reset to default before an autotune? (e.g. $SGSYSCFG.MINIMUM_TRQ, $SGGUN1.$SGTWD.$DIV_STROKE)
1: p.24, MAROBSGUN05121E REV D