Adjustment guidelines for the SurfaceAlign object

The following describes the adjustment methods when using the SurfaceAlign object.

• When it takes time to align a surface:
  Decrease the value of AlignFirmnessT or increase the value of PressForce.

  However, decreasing the value of AlignFirmnessT may result in the vibration of the robot motion. Please perform proper adjustments for your operations.

  To adjust the AlignFirmnessT, we recommend adjusting the value gradually (e.g. change the value by 10% from its present value).

  If increasing the value of PressForce, applied force to workpiece will be large. Set a proper value for your workpiece.

  If the contact surface of the workpiece is small, torque when pressing will be small. If the torque is small, rotational speed will be slow depending on the force control functions. Therefore, even adjusting the above two properties, the operation will not be able to finish in the specified time.

• When the robot motion vibrates:
  Increase the PressFirmnessF or AlignFirmnessT value.
  Adjust Firmness value in the direction where is vibrating. However, response of the robot will be slow. Please perform proper adjustments for your operations.

  To adjust the Firmness, we recommend changing the value gradually (e.g. increase the value by 10% from its present state).

• When the robot bounces largely in the pressing direction:
  If the robot repeatedly bounces largely in a few seconds, the robot motion may be restricted by LimitAccelS of the force guide sequence.

  Also, it likely to happen during the execution in low power mode.

  If the robot still bounces even executing in high power mode, increase the value of LimitAccelS. If the robot still bounces, decrease the value of PressFirmnessF.

• When the SurfaceAlign object ends when aligning a surface:
  If the specified time is not enough, increase the value of Timeout.

  When the end conditions are satisfied even the surface is not aligned, decrease the value of AlignCheckTolT. If it does not work, set HoldTimeThresh.

  If the contact surface of the workpiece is small, torque when pressing will be small. Therefore, the object will be within the range specified by AlignCheckTolT even the surfaces are not aligned. In this case, decrease the value of AlignCheckTolT or Disabled the ForceCheckEnabled. Please consider to manage by the execution time specified by Timeout.