Adjustment guidelines for the PressProbe object

The following describes the adjustment methods for when using the PressProbe object.

• When the robot motion vibrates:
  Increase the PressFirmnessF value. However, response of the robot will be slow. Please perform proper adjustments for your operations.
  To adjust the PressFirmnessF, we recommend increasing the value gradually (e.g. increase the value by 10%).

• 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 robot does not move along the specified trajectory:
  If the robot does not move along the specified trajectory, it may be affected by the LimitAccel or LimitSpeed of the force guide sequence. Increase those values.
  Also, in low power mode, it is restricted according to the maximum speed or maximum acceleration of the low power mode even the value of LimitSpeed or LimitAccel is large. Be sure to execute in high power mode.

• When the robot passes through a hole:
  Decrease a value of SpiralPitch. However, it takes more time to probe the specified range. Please perform proper adjustments for your operations.

  • When the end conditions related to force are used:
    Check the force in the direction specified by PressOrient during the execution.

    • When there is a difference between the position when the robot moves on the probe plane and the position when the robot moves above the hole:
      Adjust ProbeDetectThresh to a value whose absolute value is smaller than the force while the robot moves on the probe plane and larger than the force while the robot moves above the hole.

  • When the end conditions related to Position are used:
    Check the robot position when the robot passes through the hole.

    • When there is a difference in position between when the robot moves on the probe plane and when it moves above the hole:
      Adjust the Plane to be between these two positions.
    • When PosCheckType is RobotPlane:
      Adjust Plane set by PlaneNumber.
    • When PosCheckType is RelativePlane:
      Adjust plane positions by PlaneRelativeX, PlaneRelativeY, and PlaneRelativeZ.

• When the robot moves away from the target during the probe motion.
  Check whether the PressOrient is correct.
  When the PressOrient is correct, increase an absolute value of PressForce.
  However, the specified force is applied to the workpiece. Be sure to set a proper value for your workpiece.

• When it takes time:
  Increase the values for SpeedS and AccelS.
  However, the applied force to the workpiece will easy to vibrate. Please perform proper adjustments for your operations.
  Also, adjust the start position of the PressProbe object to make it as close to the hole as possible.

• When the probe motion speed is slow:
  Increase the values for SpeedS and AccelS.
  However, the applied force to the workpiece will easy to vibrate. Please perform proper adjustments for your operations.