9.8 Dynamic settings
The dynamic settings page is used to set the dynamic parameters of the robot. Dynamic settings are related to functions such as robot force control, drag teaching, virtual walls, and collision detection. Please ensure the robot’s dynamic settings are reasonable. Otherwise, the above functions may not work properly or may cause the robot to shake abnormally.
9.8.1 Dynamic feedforward
The dynamic feedforward switch determines whether the controller turns on or off the dynamic feedforward function and is turned on by default. Users are not recommended to turn off the dynamic feedforward function by themselves, which may cause jitter when power on and worse trajectory accuracy. The dynamic feedforward should be turned off in certain situations, including base frame calibration when the robot adopts non-front installation and friction identification.
9.8.2 Dynamic constraint
The dynamic constraint switch determines whether the controller turns on or off the dynamic constraint function and is turned on by default. Users are not recommended to turn off the dynamic constraint function by themselves, which may cause motor overload or abnormal shaking.
When the dynamic constraint switch is turned on, two options including "Nominal Dynamic Params" and "Factory Identify Dynamic Params" are available. "Nominal Dynamic Params" means nominal parameters will be used in the dynamic control. The same models using the "Nominal Dynamic Params" will deliver the exact same motion velocity and takt time when executing the same motion program, yet the motion performance may be weaker, or there may be motor overload. "Factory Identify Dynamic Params" will allow the robot to be in the best dynamic control status for the shortest takt time allowed, and the motor will be protected from overload. But robots running the same motion program may be slightly different in velocity and takt time.
9.8.3 Vibration suppression
The vibration suppression switch determines whether the controller enables the vibration suppression function, which is disabled by default.
When the vibration suppression switch is turned on, the controller compensates for the flexibility in the robot joints, suppressing vibrations caused by joint flexibility to improve position and path accuracy. Changes in the robot’s load parameters can affect the amount of joint flexibility compensation, so it is necessary to set accurate load parameters when using the vibration suppression function.
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1.The vibration suppression setting takes effect immediately without requiring controller reboot. 2.The VibSuppression command can be used in RL Project to modify vibration suppression status (see Section 15.4.16.39) 3.Currently, the vibration suppression function is only supported on specific robot models. Refer to the following table for compatible models. 4.Vibration suppression is now supported across the entire collaborative robot series. For industrial models, this feature is compatible with both the tsino dynatron control cabinet and the integrated drive-control cabinet. Please note that the XBC6 and XBC6E integrated drive-control cabinets require a specific servo firmware upgrade to enable vibration suppression. |
Table of compatible models for vibration suppression:
Product Line |
Main Model |
Sub-models |
Collaborative robot (6-axis) |
SR3 |
All sub-models |
SR4 |
All sub-models |
|
SR5 |
All sub-models |
|
CR5 |
All sub-models |
|
ZR6 |
All sub-models |
|
CR7 |
All sub-models |
|
CR12 |
All sub-models |
|
CR18 |
All sub-models |
|
CR20 |
All sub-models |
|
CR35 |
All sub-models |
|
CR17 |
All sub-models |
|
CR25 |
All sub-models |
|
Industrial robot (6-axis) |
NB4 |
NB4-R475-3B, NB4h-R580-3B, NB4h-R580-3G |
NB10s |
NB10s-1007-3K, NB10s-1009-3K, NB10S-1011-3K |
|
NB12s |
NB12s-1214-5A, NB12s-1016-5A, NB12s-1514-5A, NB12s-1611-5A, NB12s-1214-BE, NB12s-2012-3F |
|
NB12h |
NB12h-1214-6A, NB12h-1016-9C-SA, NB12h-1214-9C-SA, NB12h-1514-9C |
|
NB25s |
NB25s-1221-67, NB25s-2020-67, NB25s-2518-67, NB25s-2518-CB, NB25s-2518-AB, NB25s-3016-67, NB25s-3518-57, NB25s-3518-9B |
|
NB25h |
NB25h-3518-7A, NB25h-2518-77, NB25h-1222-77, NB25h-1222-BB, NB25h-2518-BB, NB25h-3518-BC |
|
NB80s |
NB80s-8022-21, NB80s-5026-21 |
|
NB220S |
NB220s-22027-00, NB220s-22027-10, NB220s-22027-20, NB220s-22027-22 |
|
XB4h |
XB4h-R596-3B |
|
XB7s |
XB7s-R707-3A, XB7s-R707-0A, XB7s-R707-3J, XB7s-R707-5J, XB7s-R906-0A, XB7s-R906-3A, XB7s-R906-5J-S5, XB7s-R906-HJ |
|
XB7h |
XB7h-R707-EA, XB7h-R707-EJ |
|
XB10s |
XB10s-R1206-3B |
|
Industrial robot (3-axis) |
XB12s_3 |
XB12s_3-R906-GJ-S1 |
Industrial robot (4-axis) |
XB12s_4 |
XB12s_4-R906-GJ-S1 |