GAIN.SET set, motor

Function

Select a set of feedback gain parameters for one or more motors of the currently selected robot.

Usage Considerations

This instruction currently applies only to motor 4 of the AdeptOne-MV and AdeptThree-MV robots. For the other motors of these robots and for all other robots, this instruction has no effect (and causes no error).

This instruction affects the robot currently selected with a SELECT program instruction. The gain.set instruction takes effect immediately and is not synchronized with robot motion segments. A task does not have to be attached to the robot to issue this instruction.

Parameter s

set Optional real expression that specifies the gain set to use. The default set is selected if this parameter is zero. See the tables at the end of the Details section for parameter values.

motor Optional real expression that specifies the motor of the selected robot. Currently, only motor 4 is a valid selection.

Details

This instruction selects a set of predefined feedback gain parameters that control the servo-tuning values for motor 4 of the selected robot. It is used to compensate for payload mass, payload inertia, and application requirements that exceed the robot's normal limits. If necessary, you can use this instruction each time the payload changes (for example, when the robot picks up a heavy object and then picks up a light object). See the AdeptMotion VME Developer's Guide for information on robot tuning.

NOTE: The reference above is for information purposes only. The GAIN.SET program instruction uses predefined parameters that are not user adjustable.

PAYLOAD is a related program instruction used to select a set of feedforward gain parameters. Because GAIN.SET and PAYLOAD affect different gain parameters, there is no conflict between these two instructions. Therefore, the order of their execution is unimportant.

Table 2-7. GAIN.SET Parameter Values for the AdeptOne Robot (J4)

set Parameter Value	Payload Range (kg-cm2)
0	0 - 256
1	256 - 512
2	512 - 1112
3	1112 - 1884
4	1884 - 2926
5	0 - 256 This setting provides smoother joint 4 motion at low speed.

Table 2-8. GAIN.SET Parameter Values for the AdeptOne-XL Robot (J4)

set Parameter Value	Payload Range (kg-cm2)
0	0 - 879
1	879 - 2050
2	2050 - 3180

Table 2-9. GAIN.SET Parameter Values for the PackOne Robot (J4)

set Parameter Value	Payload Range (kg-cm2)
0	Full range.
1	Tested/optimized for 24 kg load.

Table 2-10. GAIN.SET Parameter Values for the AdeptThree Robot (J4)

set Parameter Value	Payload Range (kg-cm2)
0	0 - 7316 Suitable for full load range. However, there may be some response degradation as load increases.
1	0 - 1173
2	1173 - 2786
3	2786 - 4838
4	4838 - 7316

Table 2-11. GAIN.SET Parameter Values for the AdeptThree-XL Robot (J4)

set Parameter Value	Payload Range (kg-cm2)
0	0 - 2930 Suitable for specified load range. However, there may be some response degradation as load increases.
1	0 - 879
2	879 - 2930
3	2930 - 5860
4	5860 - 10255
5	10255 - 14855

Related Keyword s

ACCEL (program instruction)

PAYLOAD (program instruction)

SPEED (monitor command and program instruction)

Syntax