7. Go to the MOTOR OFF mode (release the enabeling device).
8. Trim the internal axis as directed in section 6.5.
9. Enter the trimmed value on position gain, KL as a system parameter.
10. Test-run the robot and the external axis.
6.4.2
External axes 7-12
1. Connect the external drive unit to the motor and external equipment as explained
in the previous section.
2. Enter the correct values for the following system parameters (see section 5.2.4.13):
- Definition of axes connected
- Limiting work range
- Preliminary position gain, K_=5
- Max. motor speed
- For axis 7, select EXTERNAL
- Max. output voltage for ref. speed
3. With the system in MOTOR OFF mode, turn the motor shaft extremely slowly in the
positive direction (clockwise as seen from the motor drive shaft) and check with the
SYNCOFF function on the programming unit (see section 5.3.2) that the resolver
value is increasing.
At a value of 8.192, the value changes to 0, and then increases again.
If the value decreases, change polarity on one stator winding of the fine resolver
(signals Y FINE and X FINE) and repeat.
4. Press the enabeling device to get MOTOR ON mode. If any of the external axes races, or
if a servo-lag fault is obtained on the programming unit, the following faults may have
occurred:
- Wrong polarity on tachometer feedback connection
- Wrong polarity on speed reference
- Point 3 above has been incorrectly executed
5. Go to the MOTOR OFF mode (release the enabeling device).
6. Trim the external axis as directed in section 6.5.
7. Enter the value of position gain, KL as a system parameter.
8. Adjust the synchronizing position in accordance with section 6.6 "Adjusting
synchronizing switches and absolute measurement transducers".
9. Synchronize and test-run the robot and the external axes.
Warning!
Both commutation offset and synchronization offset are stored as system
parameters. The system parameters are thus dependent on the robot, which may
entail certain restrictions if system parameters are taken from PROM, floppy disk
or superior computer, see section 5.1.
INSTALLATION S3
6:14
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