Adjustment guideline for Contact object

The following describes the adjustment methods for the Contact object.

• When the contacting force is large:
  Decrease the value of ContactForceThresh or ContactTorqueThresh. Or, increase the value of ContactFirmnessF or ContactFirmnessT.
  However, the movement speed will be slow. Please perform proper adjustments for your operations.

• When the force guide object ends before contacting:
  If the execution time is short, increase Timeout value.

• When incorrectly determining as "contacted" before contacting:
  Contact object determines incorrectly due to the inertia force or noise when moving.
  Increase the value of ContactForceThresh or ContactTorqueThresh. However, force and torque when contacting will be large. Please perform proper adjustments for your operations.
  Or, increase the value of ContactFirmnessF or ContactFirmnessT. However, the movement speed will be slow. Please perform proper adjustments for your operations.

• When the movement speed until the robot contacts is slow:
  Increase the value of ContactForceThresh or ContactTorqueThresh. Or, decrease the value of ContactFirmnessF or ContactFirmnessT.
  However, force and torque when contacting will be large, or vibrations may be generated. Please perform proper adjustments for your operations.

• When it takes time to contact:
  If the start position of the force guide object is far from a contact position, it takes time since moving distance in long. Change the start position to a position where is as close as possible to the position to be contacted, but where does not contact with the position.

• When the robot does not move to the contacting direction or move to an opposite direction:
  The Force Sensor may not be reset properly. Check the ResetSensor setting of the force guide sequence.
  When starting the force guide sequence, the object may start with the contact state. Be sure to start from the non-contact state.
  The absolute values of ContactForceThresh or ContactTorqueThresh may be small. Increase the absolute value. However, force and torque when contacting will be large. Please perform proper adjustments for your operations.