Details on properties of the SurfaceAlign object

• Name Property
  This property sets a particular name that is assigned to force guide object.
  When creating the SurfaceAlign object, name is assigned automatically. Automatically assigned name is added a number after SurfAlign (e.g. SurfAlign01).
  You can change the name. Set up 16 characters at the maximum. Please use alphanumeric characters and underscores [_]. Note: The initial character cannot be a numeric character.

• Description Property
  This property sets descriptions about force guide objects. You can set the character string up to 255 characters.

• Enabled Property
  This property sets whether to enable force guide objects.
  When specifying True, the force guide object is executed.
  When specifying False, execute the next force guide object without executing the force guide object.
  Use this property when you want to save the force guide sequence temporary or try with different parameters by copying the force guide object during the force guide sequence creation.

  Value	Description
  True	Enable a force guide object.
  False	Disable a force guide object.

  Default: True

• StepID Property
  This property sets StepID during the execution of the force guide objects. It is only used when AutoStepID is False.

  	Value
  Minimum Value	0
  Maximum value	32767

  Default: Automatically set according to the numbers of the force guide sequence and the force guide object.

• AbortSeqOnFail Property
  This property sets operations when force guide object fails.
  When True is specified: If the force guide object fails, the program ends the force guide sequence and proceeds to the next SPEL statement.
  When specifying False: If force guide object fails, the program proceeds to the next force guide object without ending the force guide sequence.
  Use this property when you want to continue the force guide sequence (e.g. the recovery processes are included in the force guide sequence when the force guide object fails.)

  Value	Description
  True	Abort the force guide sequence when the force guide object fails.
  False	Start the next force guide sequence when the force guide object fails.

  Default: True

• IOPreprocEnabled Property
  This property sets I/O operations when the force guide object starts.
  I/O operations are defined by IOPreprocOutputBit Property and IOPreprocOutputStatus Property.
  Use this property when you want to operate the hands or peripherals before the force guide object execution.

  Value	Description
  True	Execute I/O operation at the start.
  False	I/O operation at the start is not executed.

  Default: False

• IOPreprocOutputBit Property
  This property sets I/O operations (output bit) when the force guide object starts.
  It is only used when IOPreprocEnabled is True.

  	Value
  Minimum Value	0
  Maximum value	7167

  Default: 0

• IOPreprocOutputStatus Property
  This property sets the output state of I/O operations when the force guide object starts.
  It is only used when IOPreprocEnabled is True.

  Value	Description
  Off	Turn OFF the specified output bit. (Set to 0)
  On	Turn ON the specified output bit. (Set to 1)

  Default: Off

• PressOrient Property
  This property sets the direction to press.
  Set the direction in the coordinate system specified by ForceOrient of the force guide sequence. You can select from translation direction (+Fx to -Fz). The robot moves to the specified direction and presses.
  Value
  Description

  Value	Description
  +Fx	Move to the positive direction in Fx.
  -Fx	Move to the negative direction in Fx.
  +Fy	Move to the positive direction in Fy.
  -Fy	Move to the negative direction in Fy.
  +Fz	Move to the positive direction in Fz.
  -Fz	Move to the negative direction in Fz.

  Default: +Fz

• PressForce Property
  This property sets the force to press.
  The robot presses to be the force specified by the PressForce property in PressOrient direction during the execution of SurfaceAlign object. When pressing to positive direction, value will be negative. When pressing to negative direction, value will be positive.

  When PressOrient is positive direction:

  	Value (unit: [N])
  Minimum Value	-50
  Maximum value	0

  Default: -5

  When PressOrient is negative direction:

  	Value (unit: [N])
  Minimum Value	0
  Maximum value	50

  Default: 5

• PressFirmnessF Property
  This property sets a gain that indicates a firmness of force control functions to pressing direction during the execution of SurfaceAlign object.
  When the value of PressFirmnessF increases, the force control function will become stronger. Response to changes of the force is slow, however, vibration hardly occurs.
  When the value of PressFirmnessF decreases, the force control function will become weaker. Response to changes of the force is fast, however, vibration is easy to occur.

  	Value
  Minimum Value	0.1
  Maximum value	200

  Default: 10

• AlignFirmnessT Property
  This property sets a gain that indicates a firmness of force control functions to following direction during the execution of SurfaceAlign object.
  When AlignFirmnessT increases, the force control function will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs.
  When the value of AlignFirmnessT decreases, the force control function will become weaker. Response to changes of the torque is fast, however, vibration is easy to occur.

  	Value
  Minimum Value	10
  Maximum value	1000000

  Default: 3000

• CFEnabled Property
  This property sets whether to continue the force control functions after the force guide object is ended.
  When the force guide sequence ends even if CFEnabled is True, the force control functions will end.

  Value	Description
  True	The force control functions continue to the next force guide object even when a force guide object is ended.
  False	The force control functions end when the force guide object is ended.

  Default: False

• ForceCheckEnabled Property
  For the force guide object end conditions, this property sets conditions related to force.

  Value	Description
  True	Enable the end conditions related to force.
  False	Disable the end conditions related to force.

  Default: False

• PressCheckTolF Property
  This property sets the range of the end conditions related to force.
  It is used when ForceCheckEnabled is True.
  It determines that the force of the direction specified by PressOrient property enters into a range from PressForce -PressCheckTolF to PressForce +PressCheckTolF.

  	Value (unit: [N])
  Minimum Value	0.1
  Maximum value	10

  Default: 1

• AlignCheckTolT Property
  This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True.
  It determines that the force of the direction specified by AlignOrient property enters into a range from -AlignCheckTolT to +AlignCheckTolT.

  	Value (unit: [N・mm])
  Minimum Value	If the sequence version is 7.5.1: 1 If the sequence version is 7.4.0: 100
  Maximum value	10000

  Default: 500

• HoldTimeThresh Property
  This property sets the duration time until the determination of the end conditions related to force. It is used when ForceCheckEnabled is True.
  If the state within the range specified by either PressCheckTolF or AlignCheckTolT continues for the time specified by HoldTimeThresh, it is determined as the end conditions are satisfied.

  	Value (unit: [sec])
  Minimum Value	0
  Maximum value	10

  Default: 0

• Timeout Property
  This property sets the time-out period of the force guide object.
  When it is not satisfied conditions enabled in ForceCheckEnabled even if exceeding the time specified by Timeout, it is determined as failure of SurfaceAlign object.
  After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.
  When ForceCheckEnabled is False, end the force guide object after time specified by Timeout is passed. Determine as succeeded and proceed to the next force guide object.

  	Value (unit: [sec])
  Minimum Value	0.1
  Maximum value	60

  Default: 10