5
SYSTEM PARAMETERS
5.1
Introduction
All handling of system parameters should be performed by personnel familiar with robot
programming.
System parameters is the name given to certain basic data used by the robot system.
Duringrobot installation or programming they are given values which correspond to the
specific robot equipment and application.
The system parameters can be divided into two groups:
1. Individual parameters for a number of functions which can be given different values
("defined") to suit the configuration of the robot and control system (section 5.2).
2. Parameters for calibration of the resolvers on each robot axis and defined external axis
(section 5.3).
Active system parameters are available in a RWM memory which is provided with battery
backup.
Parameters in group 1 above are also stored on a PROM with predefined values. These
values (default values) are always available if other values have not been "defined" to the
RWM during installation or programming.
A complete set of system parameters should be stored (back-up) on a floppy disk or through a
computer link to a host computer. This is done in the event of a fault on the robot computer
board (RWM-memory with belonging battery back-up).
Observe that when storing system parameters on a floppy disk or host computer is, beside
the sysemparameters ace. to group 1 and 2, also the following system- and programdata are
stored: TCP, BASE POINT, FRAME, ALIGN, SENSOR, PALET and SOFT SERVO.
Note that when loading parameters from the PROM memory to the RWM memory, values
for resolver data (parameters in group 2) are set to zero or lack a value, since these have no
predefined PROM values. These resolver data must therefor be entered manually after
loading parameters from the PROM memory. This is not the case when loading parameters
from a floppy disk, or from a host (superior) computer, provided of course, that resolver data
has been stored in these memories.
5.1.1
Handling system parameters
Note that if instead of completing the handling of the system parameters, the operator
switches off the power to the robot, the newly entered values of the parameter memory will
be lost.
To ensure future availability of the system parameters after commissioning or trimming it is
recommended:
1. To always store valid system parameters either on a diskette or on a superior computer if
connected and used as a Host.
2. The resolver and commutation offsets should, in addition, always be kept current in the
ID documentation of the robot installation.
INSTALLATION S3
5:1
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