Contact Object

Contact object moves the robot to the specified direction until it contacts with an object such as a workpiece, and stops it when contacting with the object.

This object is used for setting the start position or grasp position of other force guide objects. Even if the workpiece dimension or the grasp position of the workpiece have a margin of error, next motion or the force guide object can be executed stably since the contact position can be detected.

The above figure is an image of a motion by the Contact object. The robot moves to the white arrow direction from the non-contact state and stops when contacting with the object.

The Contact object will be succeeded when the end conditions are satisfied within the specified time. End conditions related to force are always set.

Each condition is as follows:

End condition	Success condition
End conditions related to force	Satisfy either one of the following within the specified time of Timeout:
	When the ContactOrient is Fx, Fy, Fz: The absolute value of the force in the specified direction Exceeds that of ContactForceThresh.
	When the ContactOrient is Tx, Ty, Tz: The absolute value of the torque in the specified direction Exceeds that of ContactTorqueThresh.