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

No.	Name	Function
(1)	Model selection	Click here to select the applicable mode name.
(2)	Save	After selecting (1) the model, click "Save" to confirm the operation.
(3)	The information of the selected model is displayed	The section of the information is displayed for the models to help you distinguish between them. (This part of the information in the model needs to be maintained during producdtion to maintain accuracy.)

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

No.	Name	Function
(1)	Initialize	Clicking on it will read the initial data of the mechanical parameters in the model file and feedback it to the display at (4).
(2)	Save	Save existing changes
(3)	Page	Parameters are scrolled up and down.
(4)	Mechanical Parameter content	The amount of movement of the motor in one revolution: The actual distance of the servo motor in one rotation and advance of the mechanical structure. The number of pulses in one revolution of the motor: The number of pulses required for one revolution of the servo motor (it must be consistent with the number of pulses after the frequency doubling of the driver). Panasonic motors are generally 10000, and Yaskawa motors are generally 8192. Maximum number of revolutions: The maximum speed allowed to be achieved by servo operation (i.e. the maximum speed of 100% gear when automatic). In-place detection amount: Set the distance at which the shaft runs in place in advance to start the next command (setting too much may cause impact). Origin Correction: The existing origin position can be offset in the positive or negative direction (the origin position is preferably in the middle section of the trigger iron piece). Origin Return Speed: Set the speed at which the origin is automatically returned. Free Operation (Low Speed): The actual operating speed of the speed of the low gear when setting the manual "Free Operation". Free Operation (Medium Speed): The actual operating speed of the medium gear when setting the manual "Free Operation". Free Operation (High Speed): Set the actual operating speed of the speed of the high gear when manually "Free Operation". Minimum acceleration and deceleration time: Set the acceleration and deceleration time of the lowest gear among the 26 "acceleration and deceleration" gears. Maximum acceleration and deceleration time: Set the acceleration and deceleration time of the highest level in the 26 gears of "Acceleration and Deceleration". Fuel Distance Setting: Set the fuel distance in Maintenance.

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

No.	Name	Function
(1)	Initialize	Clicking on it will read the initial data of the drive parameters in the model file and feedback it to the display at (4).
(2)	Save	Save existing changes.
(3)	Page	Parameters are scrolled up and down.
(4)	Drive parameter content	Each driver parameter is edited and displayed.

Instructions for setting some drive parameters:

No.	Name	Effect	Initial Value	Range	Unit	The main point of the setting
PA1-02	INC/ABS System selection	Reboot	0	0~1		"0" is an incremental motor, "1" is an absolute motor
PA1-04	Direction of rotation	Reboot	0	0~1		Adjust when the motor rotates in the wrong direction
PA1-13	Tuning mode	Realtime	0	0~2		0 is automatic, 1 semi-automatic, 2 manual. The robot is set to 1 when it is shipped.
PA1-14	Load-to-torque ratio	Realtime	23.0	0.0~300	Times
PA1-15	Tuning gain	Realtime	7	1~40
PA1-27	Forward torque limit value	Realtime	300	0~500
PA1-28	Negative torque limit value	Realtime	300	0~500
PA1-52	S acc/dcc setting	Realtime	0.0	0.0~1000.0
PA1-54	A fixed number of position command answers	Realtime	30.0	0.00~250.00
PA1-55	Position Ring Gain 1	Realtime	17	1~2000
PA1-56	Speed Ring Gain 1	Realtime	5	1~2000
PA1-58	Feedback Gain 1	Realtime	0.000	0.000~1.500
PA1-59	Torque filtering	Reboot	0.00	0.00~20.00
PA1-70	Notch filter mode	Realtime	1	0~1		When 0, the automatic detection 1 is valid for the set value
PA1-71	Notch 1 frequency number	Realtime	134	10~4000
PA1-72	Notch 1 attenuation	Realtime	1	0~40
PA1-73	Notch 1 width	Realtime	2	0~3
PA1-74	Notch 2 frequency number	Realtime	53	10~4000
PA1-75	Notch 2 attenuation	Realtime	1	0~40
PA1-76	Notch 2 width	Realtime	2	0~3
PA1-78	The frequency number 0 of the braking anti-resonance	Realtime	7.0	1~300.0	Hz	Vibration suppression is effective when stopping, and it is necessary to measure the actual vibration before setting.
PA1-79	Brake vibration inertia ratio	Realtime	0	0~80		If it is set to 0, PA1-78 will be invalid, and when it is set to 1, PA1-78 will be valid.
PA1-80	The frequency number 1 of the braking anti-resonance	Realtime	8.0	1~300.0	Hz	Vibration supression is effective when stopping, and it is necessary to measure the actual vibration before setting.
PA1-81	Brake vibration inertia ratio	Realtime	0	0~80		If it is set to 0, PA1-80 is invalid, and when it is set to 1, PA1-80 is valid.
PA1-94	Torque filter mode	Reboot	0	0~1		Set to 0 and do not use torque filtering
PA2-64	Brakek action time	Realtime	0	0.00~99.9	Sec
PA2-65	Retrograd resistance selection	Reboot	1	0~1		Set 1 when the regeneration resistor is connected, and 0 when not connected
PA2-69	Deviation over detected value	Realtime	15.0	0.1~100.1	Rev
PA3-79	Retrograde impedance value setting	Realtime	30.0	3.9~160.0	Ω	The value of the regenerative resistance is set
PA3-80	Respawn impedance power setting	Realtime	40	1~5000	W	Retroactive resistance capacity setting

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

No.	Name	Function
(1)	Axis selection	Click to select the axis you want to work on.
(2)	Adaptive filtering	Adaptive filtering function ON/OFF switching.
(3)	Notch filtering related parameters	Various parameters related to the notch filtering function.

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

No.	Name	Function
(1)	Axis Selection	The axis selection to set
(2)	Maximum torque variation