Abstract

The mechanical parameters setting of the IML robot include the selection of the modular of the function unit, the mechanical parameter of the axis, the servo motor etc. to ensure that the IML robot is working safely and efficiently.

Model Selection

Please note that the above operation, model selection - saving, after the completion of the model content does not take effect immediately, need to be initialized in mechanical parameters, servo parameters - saving, and then the system restarts, will take effect.

Mechanical Parameters

Please note that the modification of the above parameters does not take effect immediately, but needs to be saved, and will only take effect after the system restarts.

Drive parameters

Instructions for setting some drive parameters:

Easy set-up-tuning mode

No.	Name	Function
(1)	Axis selection	Click to select the axis you want to work on.
(2)	Auto-tune	When the machine is adjusted before leaving the factory, the drive parameters can be deduced in this mode.
	Semi-automatic tuning	Semi-automatic tuning mode, some parameters are fixed, and some parameters will be fine-tuned.
	Manual tuning	All drive parameters are fixed.
(3)	Set value	The tuned gain, to-inertia-to-torque ratio currently in use.
(4)	Calculated value	The value derived from the current calculation.
(5)		Apply the Calculated Value content to the Set Value.
(6)		Apply the contents of the "Set Value" to the "Calculated Value".
(7)	Save	Modify and save the current driver parameters.

When automatic, you can switch the tuning mode of each axis on this interface, modify the inertia-torque ratio and tuning gain, so as to observe the operation effect of the set values in real time and find more reasonable parameter settings.

• Auto-tune mode

  When set to auto-tuning mode, the parameter PA1-14 inertia-torque ratio is measured in real time.

  The main function of the automatic tuning mode is to automatically adjust the value according to the running effect when the appropriate driving parameters are not know at the initial stage of debugging, until the running effect is good and stable, and the inertia-torque ratio value will tend to be constant.

• Semi-automatic tuning mode

  When the running effect is stable, switch to the semi-automatic tuning mode, manually set the parameters, save them, turn off the power and restart them again before the parameters are effective. In the semi-automatic tuning mode, the main parameters such as the "inertia torque ratio" will be fixed, and some servo parameters will still be adjusted in real time to ensure smooth operation.

• Manual tuning mode

  When set to "Manual Tuning Mode", all servo parameters are fixed. This mode requires a high degree of precision in the parameters set.

Easy Setup - Notch Filter Setting

If there is a sharp sound in the servo ON at the moment or during operation, the adaptive filter can be set to ON, which will automaticall elimitate the abnormal sound caused by mechanical resonance, and can eliminate two resonance points. When the resonance frequency is set to 4000, there is no resonancde point.

Easy Setup - Vibration Control Setting

No.	Name	Function
(1)	Axis selection	Select the axis you want to operate.
(2)	Auto-adjust	The relevant parameters of the set vibration control are automatically detected.
(3)	Set value	Vibration control parameters currently in use.
(4)	Calculated value	Calculate the derived numeric value.
(5)		Apply the Calculated Value content to the Set Value.
(6)		Apply the contents of the "Set Value" to the "Calculated Value".

Vibration control setting: It is effective for suppressing vibration when stopping, and the general setting value is 5-10. The setting value can be calculated briefly based on the torque waveform, and it is difficult to set it correctly at the first time.

Easy Setup - Collision Detection