Overview of Force Guide 8.0

Force Guide 8.0 is an option product and generic name for the following parts:
　Force Sensor
　Intermediate unit (connects Force Sensor and Robot Controller)
　Cable
　Software

Force Guide 8.0 supports various applications such as Peg In Hole, surface processing, pressing, inspection or teaching.
It also allows jogging the robot while checking the output of Force Sensor and assists with shortening the teaching time.

Force Guide 8.0 has the following features.

• Force guidance function
  Operation using force control function, force trigger function, force monitor function, and force motion restriction function can be created by GUI without using SPEL+ language.

• Force control function
  Position adjustment is done on the coordinate axis moved by external force independently. (Such as only Z-axis or U-axis)
  Allows different control characteristics for each axis.
  Covers tolerances of provided workpieces.

• Force trigger function
  Keeps monitoring precise force, torque, and their changes.

  • Possible to program the judgments of success and failure regarding force and torque, and the conditional branching with operations in an assigned task.
  • Detects the position of an end of workpiece or protruding and dent position by force and torque monitoring.
  • Detects force or torque abnormalities.

• Force monitor function
  Displays charts of force, torque, and position information of the robot in different coordinate systems.
  Saves log files in PC.

  • Read the saved files on the force monitor to analyze them. You can also read several files simultaneously and compare.
  • Utilizes them for shorter optimization time and process management information.

• Force motion restriction function
  Monitors changes in position and posture.
  Possible to program the judgments of success and failure regarding position and posture while operating, and the conditional branching.
  Possible to perform more reliable assembly work by adding position and attitude monitoring during force control operation.
  Detects position or posture abnormalities.

• Gravity compensation function
  Minimizes the effect of gravity in the following functions while the orientation changes.
  Force Control, Force Trigger, and Force Monitor functions.

• Mass/Gravity Wizard
  Measures the gravity center and the mass of an end effector without CAD data or hand removal.

• Impedance Wizard
  Estimates the effect of the Force Control parameters on motion.

• Direct Teach + Touch Jog
  Apply force to Force Sensor and move the end effector directly by the hands.