ProportionalGain Setting
This section describes how to execute the program created below and adjust ProportionalGain.
Add a Program for Distance Sensor Logging
Test run in low speed
Execute the program created below in low speed (10 mm/s or less).
Add a Program for Distance Sensor Logging
Set SpeedS to 10 or less and AccelS to 100 or less.
Make sure that the robot moves to the target point and the program works properly. Since the value of ProportionalGain is small, the robot moves straight to the target point. Be sure to move the robot in the environment with no obstacles between the motion start point and target point.
When 4603: out of range error occurs:
Since the value of ProportionalGain is small, "4603: Out of range error" may occur. If the error occurs, increase the value of ProportionalGain by 10.
Test run in actual speed
Since it was confirmed that the program works properly at (1), execute the program in the desired working environment. Set robot speed and acceleration to desired value.
When 4603: out of range error occurs:
Parameter adjustment is required. Refer to the following tips to adjust parameters, and then check the motion again.
- Value of ProportionalGain is small. Increase the current value by 10.
- Robot speed is too fast. Move the robot in 100mm/s or less.
Check the motion results
“AIO_Monitor.csv” is created in the project folder of Epson RC+ 8.0. Open the file in spreadsheet software and create a line graph or a scatter plot by all data of column A.
Graph shown below will be created. Check the correction accuracy on the graph. In case of the following graph, the correction accuracy is approx. 70um.
If the correction accuracy is within the target accuracy, parameter adjustment ends.
Adjustment of ProportionalGain
If the correction accuracy does not achieve the target value, adjustment of ProportionalGain is required.
ProportionalGain is a parameter to set strength of correction. Adjust value of ProportionalGain and repeat the program execution to calculate a proper value.
Be sure to increase the value of ProportionalGain gradually. Changing the value to a larger one at one time is extremely hazardous and the robot may move unintentionally.
When adjusting ProportionalGain, keep IntegralGain and DifferentialGain to "0".
When adjusting ProportionalGain, the correction accuracy is improved.
However, if increasing the value too much, the robot motion will be vibratory. (Refer to the upper graph: P=50)
ProportionalGain value without robot vibrations and the best correction accuracy is an optimum value. (Refer to the upper graph: P=40)
If the target correction accuracy is not achieved even if ProportionalGain is adjusted, you need to adjust IntegralGain.