2.3. Methods of Using ServoFree Function

2.3. Methods of Using ServoFree Function

 

Step 1: Check Whether the ServoFree Function Works

 

Before tuning a detailed gain of ServoFree, check whether the ServoFree function that a robot has works. Set up the maximum sensitivity (GAIN=100) and minimum disturbance threshold (F=1) so as to make the robot slide even without external forces applied to the robot.

 

 

Figure 2.2 Flow chart to check whether the ServoFree function works

 

S1   MOVE P,S=10%,A=1,T=1      DELAY 2.0      LIMIT POS,+Y=500      LIMIT VEL,Y=300      ServoFree ON,CRD=1,DIR=+Y,GAIN=100,F=1      DELAY 10      ServoFree OFF      END

 

Figure 2.3 Examples of programs for checking whether the ServoFree function works

 

 

Step 2: Detailed Gain Tuning according to the work

 

Tune the detailed gain so as to fit the work after checking that the used robot’s ServoFree function has worked. After starting the ServoFree function, gradually increase values of disturbance threshold (F) from one (1) in order to prevent the robot from sliding in a condition where an external force is zero (0).Then, adjust sensitivity gains until the gain suitable for the work is obtained, and regulate maximum sliding rates in accordance with sliding rates.

 

Figure 2.4 Flow chart of ServoFree function gain tuning