Initial commissioning
4–19
1070 066 037-101 (00.02) GB
4.3.3 Specifying setpoints
In order to test or optimize the drive behavior in the dynamic range, setpoints
have to be specified for individual axes.
We recommend writing a rho test program for this purpose by which the axis
to be optimized is controlled.
The step response of the axis can then be evaluated at the oscilloscope.
CAUTION
Possibility of uncontrolled or accidental robot movements!
When entering setpoints via the DSS setpoint box or setpoint gener-
ator, the safety-relevant functions of the rho control unit are not
active.
Furthermore, with complicated mechanics, it is difficult to estimate
the effects of direct axis control on the complex robot mechanics and
the resulting hazard area.
Therefore, you should only use test programs for the rho which
traverse individual axes.
For creating and processing programs in the rho, please refer to
the rho documentation.
Bosch does not accept any liability for setpoint inputs by the DSS
or consequential damages of any type.
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