Steps to adjust parameters

The accuracy of the distance tracking function may differ depending on the robot model, speed, and workpiece shape.

Therefore, you need to set parameters depending on the working environment when using the distance tracking function.

To improve the accuracy of the distance tracking function, adjust parameters and set a proper value.

Parameters to be set are ProportionalGain, IntegralGain, and DifferentialGain. These are parameters for AIO_TrackingStart.

In the steps to adjust parameters, it is assumed to use a flat metallic plate as a workpiece in the dispense application as shown below.

Steps to adjust parameters are below:

Statuses at the beginning are as follows:

• Dispenser: Connection and settings have completed.
• Laser displacement meter: Connected to analog I/O.

Describe in order of the preparation for parameter adjustment and parameter adjustment.

CAUTION

---

• The parameters used in this step are reference values. Please note that the operation may not be successful or the motion may be vibratory depending on the set parameters and some operating conditions.

• If the robot performs an action different from the setting, immediately press the emergency stop button.