Basic Characteristics RAPID

Example
tive method to the use of TuneServo.
Tune_kp, tune_kv, tune_ti external axes
These tune types affect position control gain (kp), speed control gain (kv) and speed
control integration time (ti) for external axes. These are used for adapting external axes
to different load inertias. Basic tuning of external axes can also be simplified by using
these tune types.
Tune_kp, tune_kv, tune_ti robot axes
Arguments
For robot axes, these tune types have another significance and can be used for reducing
path errors at low speed (< 500 mm/s).
Recommended values: tune_kv 100 - 180%, tune_ti 50 - 100%. Tune_kp should not be
used for robot axes. Too high or low values of tune_kv/tune_ti cause vibrations or
oscillations.
Never use these tune types at high speed or when the required path accuracy is fulfilled.
TuneServo IRB, 2, 90;
Activating of tuning type TUNE_DF with the tuning value 90% on axis 2 in the
mechanical unit IRB.
TuneServo MecUnit Axis TuneValue [\Type]
MecUnit (Mechanical Unit) Data type: mecunit
The name of the mechanical unit.
Axis Data type: num
The number of the current axis for the mechanical unit (1 - 6).
TuneValue Data type: num
Tuning value in percent (1 - 200). 100% is the normal value.
[\Type] Data type: tunetype
Type of servo tuning. Available types are TUNE_DF, TUNE_KP, TUNE_KV and
TUNE_TI. These types are predefined in the system with constants.
8-TuneServo-2 RAPID Reference Manual