Hi,
Have any of you used the Change gain option? Could you explain how it works?
Hi,
Have any of you used the Change gain option? Could you explain how it works?
Manuals attached.
You have 2 options in Kawasaki to reduce 'rigidity' to allow relaxation of motor torques.
- Soft absorber
- Change gain
These are commonly used in applications where the robot is being used to 'push against' external peripherals. like placing a gripped object into a tight area where tolerances require relaxation on motor torque(s) to prevent collision damage, but allow fitting of object.
- Meshing 2 gears together.
It's a best if you write more details about application and require to adjust the function. Here is an example of how a looks soft absorber in "two options":
1) tool aligning - it's just a simplified name for static force
2) main soft absorber - where robot adjusts the position to external force, in this case, clamp in machines, to not to force the machine.