The following check lists define additional setup procedures that permit you to enhance and optimize the operation of the system. Unlike the previous setup steps, these procedures are not necessary for the basic operation of the system. All of the configuration parameters that are altered by these setup procedures are automatically set to reasonable default values when you first start your controller.
The procedures listed below can be performed at any time. However, they are normally executed after the "First Time Mechanism Integration" and any "Special Feature Setup" procedures have been completed.
The following setup parameters alter the operation of the system when it is in manual control mode via the web "Virtual Pendant".
| Setup 4A: Manual control | ||
|---|---|---|
| Function | Action / DataID's | See Also |
| Jogging speeds |
Alter the "Max joint jog speed as %" (2820) and "Max world/tool jog speed as %" (2821) to define the maximum jog speed relative to the 100% program controlled speeds. Alter the "Rate of change of jog speed in %/sec" (2822) to control how quickly the jog modes achieve their maximum speeds. |
(Web) ... > Joint/Cartesian control > Homing/jogging |
| Jogging tick step | Alter the "Jog tick joint step as %" (2825) and "Jog tick world/tool step as %" (2826) to set the size of a single jog step as a function of the the distance an axis would travel in one second at 100% program speed. |
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| Free mode options | If an axis should not be permitted to be placed into free mode, set the appropriate bit in the "Free mode inhibited axes mask (2823)". If an axis is subject to gravity loading, set the appropriate bit in the "Free mode gravity comp motor mask (2824)" to enable gravity compensation. |
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| Servo speed limits | As a precaution, alter the "Manual mode speed limit, mcnt/sec" (10209) to restrict the motor speed that the servos will generate when the Auto/Manual signals are set to Manual and the robot is in Jog mode. |
(Web) ... > Servo parameters > Encoder |
| Servo torque limits | As a precaution, alter the "MANUAL mode motor PEAK(non-RMS)/(RMS rated) current, %" (10615) to restrict the maximum single phase motor current that the servos will generate when the Auto/Manual signals are set to Manual and the robot is in Jog mode. |
(Web) ... > Servo parameters > Amplifier |
The following table describes optional setup parameters that alter the operation of the motion control system.
| Setup 4B: Motion control sub-system | ||
|---|---|---|
| Funcion |
Action / DataID's |
See Also |
| Trajectory generation rate | Some high performance systems can benefit from reducing the "Trajectory generator update period in sec" (600) while less demanding applications can benefit from using less CPU time for this function. The controller must be restarted for this change to take effect. |
(Web) ... > Controller > Task control |
| In-range position tolerance | Set the "Pos Ctl inrange tolerance in mcnts" (2305). This defines the tightest (100%) position tolerance in encoder counts that will be used to verify if the axes of the robot have reached their final destinations at the end of a program controlled motion. |
(Web) ... > Joint/Cartesian control > Joint/motor factors |
| Maximum allowed speed/accel/decel | Set the "Max % speed allowed" (2704), "Max % accel allowed" (2705) and the "Max % decel allowed" (2706). These limit the maximum speeds and accelerations that a program can command in terms of the 100% speeds and accelerations specified above. |
(Web) ... > Joint/Cartesian control > Dynamic parameters |
| Default program speeds and accelerations | Each time a new GPL Profile object or MotionBlock is created, the "Default %speed" (2708), "Default Cartesian rotation %speed" (2709), "Default %accel" (2710), "Default %decel" (2711), "Default max accel ramp time in sec" (2712) and "Default max decel ramp time in sec" (2713) are set. |
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(Web) ... > Joint/Cartesian control > Traj Gen switches
(Web) ... > Joint/Cartesian control > Homing/jogging
(Web) ... > Calibration parameters > Misc
(Web) ... > Controller > Operating mode
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(Web) ... > Servo parameters > Compensator
(Web) ... > Servo parameters > Encoder
The following table contains parameters that affect the operation of the user interface.
| Setup 4C: User interface | ||
|---|---|---|
| Function | Action / DataID's | See Also |
| Telnet password | Set the "Network password" (410) to restrict access to the network console port. |
(Web) ... > Controller > Network |
| Web password protection | To password protect access to the web interface, set the "Web password security" (450) to "1" and define the "Web administrator password" (456), "Web maintenance password" (457), "Web operator password" (458) and "Web application password" (459). |
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The following table describes the setup parameters for interfacing the controller to other equipment and for externally controlling its operation.
| Setup 4D: Interfacing to other equipment | ||
|---|---|---|
| Function | Action / DataID's | See Also |
| Automatic system execution | The system can be setup to automatically begin executing an application each time that it is restarted. To configure this mode, alter "Automatic power on" (240), "Auto home at startup" (212), "Auto start auto execute mode" (202). In addition, if appropriate, set "Auto start a GPL project" (205) and "Auto start GPL project file" (206). |
(Web) ... > Controller > Operating mode |
| System status and control via DIO |
If you wish to control the system's execution from a PLC or other host computer via DIO, set the "Power enable DIN" (242), "Amp enabled DOUT" (231), "Ready-for-power-on DOUT" (232), "Fault DOUT" (233), "Power State DOUT" (235), "Perform homing DIN" (214), "Auto execute mode start DIN" (204), "Hard E-Stop DIN" (244), "Soft E-Stop DIN" (246). |
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| Motion system monitoring via DIO | To monitor the status of the motion control sub-system via DIO, set the "Robot homed DOUT" (2801) and the "In-range DOUT" (3524). |
(Web) ... > Joint/Cartesian control > Homing/jogging & Datalogging |
| COM1 serial port | If you intend to use the COM1 (RS-232) serial port, set the port parameters: "Baud rate" (400), "Bits per character" (401), "Stop bits" (402), "Parity" (403), and "Hardware flow control" (404) |
(Web) ... > Controller > COM serial line |
| ADC scale and offset | If you intend to use the analog input signals, set the "Gen AIO In scale factor" (524), "Gen AIO In offset" (525), "Gen AIO In min scaled value" (526), and "Gen AIO In max scaled value" (527). |
(Web) ... > Controller > System DIO |