Details on the properties of the PressProbe object

Name Property
This property sets a particular name that is assigned to force guide object.
When creating the PressProbe object, a name is assigned automatically. Automatically assigned name is added a number after PressProbe (e.g. PressProbe01).
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

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

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.

	Value
Minimum Value	0
Maximum value	32767

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

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.

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

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

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

	Value
Minimum Value	0
Maximum value	7167

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

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

ProbeTrajectory Property
This property sets trajectory for force guide objects.

Value	Description
Straight	The robot moves along the straight line trajectory and stops at a hole or an obstacle.
Spiral	The robot moves along the spiral line trajectory and stops at a hole or an obstacle.

Default: Straight

ProbeDetectType Property
This property sets a target type to be detected by the PressProbe object.
Value

Description

Hole Detect a hole on the trajectory to probe.

Obstacle Detect an obstacle (convex shape) on the trajectory to probe.
Default: Hole

Value	Description
Hole	Detect a hole on the trajectory to probe.
Obstacle	Detect an obstacle (convex shape) on the trajectory to probe.

AccelS Property
This property sets acceleration when moving the specified trajectory.

Value (unit: [mm/sec²])

Minimum Value 1

Maximum value 200
Default: 10

	Value (unit: [mm/sec²])
Minimum Value	1
Maximum value	200

SpeedS Property
This property sets acceleration when moving the specified trajectory.

Value (unit: [mm/sec])

Minimum Value 1

Maximum value 50
Default: 10

	Value (unit: [mm/sec])
Minimum Value	1
Maximum value	50

SpiralDiam Property
Set the diameter of a spiral trajectory.
This property is used when Spiral is specified by ProbeTrajectory property.

Value (Unit: [mm])

Minimum Value 1

Maximum value 100
Default: 10

	Value (Unit: [mm])
Minimum Value	1
Maximum value	100

SpiralPitch Property
This property sets a pitch of the spiral trajectory.
This property is used when Spiral is specified by ProbeTrajectory property.
When decreasing SpiralPitch, spirals to probe are increased in the same range. Therefore, a risk that the robot passes through the target and cannot detect it is reduced, but more time is required for probing.
When increasing SpiralPitch, spirals to probe are decreased in the same range. Therefore, a risk that the robot passes through the target and cannot detect it is increased, but the required time for probing is reduced.

Value (Unit: [mm])

Minimum Value 0.05

Maximum value 10
Default: 1

	Value (Unit: [mm])
Minimum Value	0.05
Maximum value	10

DestRelativeX Property
For the straight-line trajectory, this property sets a moving amount to X direction in the coordinate system which is specified by ForceOrient and RobotLocal of force guide sequence.
This property is used when Straight is specified by ProbeTrajectory property.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

DestRelativeY Property
For the straight line trajectory, this property sets a motion amount in the Y direction in the coordinate system which is specified by ForceOrient and RobotLocal in the force guide sequence.
This property is used when Straight is specified by ProbeTrajectory property.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

DestRelativeZ Property
For the straight-line trajectory, this property sets a moving amount to Z direction in the coordinate system which is specified by ForceOrient and RobotLocal of force guide sequence.
This property is used when Straight is specified by ProbeTrajectory property.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

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 along the specified trajectory while pressing to a defined direction.
In the spiral trajectory, generate a spiral trajectory on the plane which is perpendicular to the specified direction.

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.
While executing the PressProbe object, the robot probes while it presses, so that the force in the PressOrient direction becomes what is specified in the PressForce property.
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 -10
  
  Maximum value 10
  
  Default: 0
- When PressOrient is negative direction:
  
  Value (unit: [N])
  
  Minimum Value -10
  
  Maximum value 10
  
  Default: 0

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

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

PressFirmnessF Property
This property sets a firmness for the force control function in the pressing direction during the execution of PressProbe 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

	Value
Minimum Value	0.1
Maximum value	200

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.
The end conditions related to force is the conditions specified by ProbeDetectThresh.
Value

Description

True Enable the end conditions related to force.

False Disable the end conditions related to force.
Default: True

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

ProbeDetectThresh Property
For the end conditions related to force, this property sets a threshold to be determined as "detected".
- When specifying Obstacle by ProbeDetectType:
  Specify a positive value.
  At this time, the following will be an end condition of the force. The square root of the sum of the squares of the force in the direction that is not specified by PressOrient (e.g.: sqrt(FxFx+FyFy) when selecting -Fz) exceeds the value specified by ProbeDetectThresh.
- When specifying Hole by ProbeDetectType and Fx, Fy, or Fz by PressOrient:
  Set a negative value.
  At this time, an end condition of the force is that the force in the direction specified by PressOrient is less than the value specified by ProbeDetectThresh.
- When specifying Hole by ProbeDetectType and -Fx, -Fy, or -Fz by PressOrient:
  Specify a positive value.
  At this time, an end condition of the force is that the force in the direction specified by PressOrient exceeds the value specified by ProbeDetectThresh.
- When ProbeDetectType is Hole, and PressOrient is the positive direction.
  
  Value (unit: [N])
  
  Minimum Value -50
  
  Maximum value 0
  
  Default: 0
- When ProbeDetectType is Press, or PressOrient is the negative direction:
  
  Value (unit: [N])
  
  Minimum Value 0
  
  Maximum value 50
  
  Default: 0

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

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

PosCheckEnabled Property
This property sets the end conditions of the force guide object related to position.
Value

Description

True Enable the end conditions related to position.

False Disable the end conditions related to position.
Default: False

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

PosCheckType Property
For the end conditions related to positions, this property sets whether to use Plane which is defined in advance or set a relative position from the start position of force guide object.
When specifying RobotPlane, set the end conditions by using the defined Plane. When specifying RelativePlane, reset Plane to the relative position from the force guide object start position each time the force guide object is executed.
Value

Description

RobotPlane Use the defined Plane as the end condition.

RelativePlane Set Plane to the relative position and use it as the end condition.
Default: RobotPlane

Value	Description
RobotPlane	Use the defined Plane as the end condition.
RelativePlane	Set Plane to the relative position and use it as the end condition.

PlaneNumber Property
This property sets the Plane number of the plane that will be used for end conditions related to position.
When specifying Plane in the PosCheckType property, Plane of the specified number will not be changed.
When specifying Relative in the PosCheckType property, redefine a new Plane to the specified number each time the force guide object is executed. Therefore, note that the original setting will be lost.

Value

Minimum Value 1

Maximum value 15
Default: 1

	Value
Minimum Value	1
Maximum value	15

PlaneEndCond Property
For the end conditions related to positions, this property sets the conditions to be determined as an end.
Value

Description

Outside Being outside of the Plane is an end condition.

Inside Being inside of the Plane is an end condition.
Default: Inside

Value	Description
Outside	Being outside of the Plane is an end condition.
Inside	Being inside of the Plane is an end condition.

PlaneRelativeOrg Property
For the end conditions related to positions, this property specifies which coordinate system is used to set the relative position that sets the Plane. It is used when RelativePlane is specified by PosCheckType.

Value	Description
Base	Specify a relative position based on the Base coordinate system.
Local	Specify a relative position based on the Local coordinate system. Local coordinate system number is specified by PlaneRelativeRobotLocal.
Tool	Specify a relative position based on the Tool coordinate system.

Value

Description

Base

Specify a relative position based on the Base coordinate system.

Local

Specify a relative position based on the Local coordinate system.

Local coordinate system number is specified by PlaneRelativeRobotLocal.

Tool

Specify a relative position based on the Tool coordinate system.

Default: Tool

PlaneRelativeX Property
For the end conditions related to positions, this property sets the relative position in X direction to set Plane. It is used when RelativePlane is specified by PosCheckType. X direction follows the coordinate system specified by PlaneRelativeOrg.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

PlaneRelativeY Property
For the end conditions related to positions, this property sets the relative position in Y direction to set Plane. It is used when RelativePlane is specified by PosCheckType. Y direction follows the coordinate system specified by PlaneRelativeOrg.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

PlaneRelativeZ Property
For the end conditions related to positions, this property sets the relative position in Z direction to set Plane. It is used when RelativePlane is specified by PosCheckType. Z direction follows the coordinate system specified by PlaneRelativeOrg.

Value (Unit: [mm])

Minimum Value -2000

Maximum value 2000
Default: 0

	Value (Unit: [mm])
Minimum Value	-2000
Maximum value	2000

PlaneRelativeOrient Property
For the end conditions related to positions, this property sets the coordinate system to set Plane.
It is used when RelativePlane is specified by PosCheckType.
Plane is set on the axis specified by PlaneAxes, according to the coordinate system specified by PlaneRelativeOrient.
When specifying Base, Plane is set on axis specified by PlaneAxes in the Base coordinate system.
When specifying Local, Plane is set on axis specified in PlaneAxes in the Local coordinate system of the number specified by PlaneRelativeRobotLocal.
When specifying Tool, Plane is set on axis specified by PlaneAxes in the Tool coordinate system.

Value	Description
Base	Specify a Plane direction based on the Base coordinate system.
Local	Specify a Plane direction based on the Local coordinate system.
Tool	Specify a Plane direction based on the Tool coordinate system.

Default: Tool

PlaneAxes Property
For the end conditions related to positions, this property sets the axis to set Plane.
It is used when RelativePlane is specified by PosCheckType.
Plane is set on the axis specified by PlaneAxes, according to the coordinate system specified by PlaneRelativeOrient.
Value

Description

XY Set Plane on the XY plane.

YZ Set Plane on the YZ plane.

XZ Set Plane on the XZ plane.
Default: XY

Value	Description
XY	Set Plane on the XY plane.
YZ	Set Plane on the YZ plane.
XZ	Set Plane on the XZ plane.

PlaneRelativeRobotLocal Property
For the end conditions related to positions, this property sets Local coordinate system number that specifies the relative position or direction of Plane. It is used in either of the following cases: RelativePlane is specified in PosCheckType and Local is specified in PlaneRelativeOrg. RelativePlane is specified in PosCheckType and Local is specified in PlaneRelativeOrient.

Value	Description
0 (Base)	Use the Local 0 coordinate system (Base coordinate system). It is the same as when specifying Base by PlaneRelativeOrg or PlaneRelativeOrient.
1 to 15	Use the Local coordinate system of the specified number.

Value

Description

0 (Base)

Use the Local 0 coordinate system (Base coordinate system).

It is the same as when specifying Base by PlaneRelativeOrg or PlaneRelativeOrient.

1 to 15

Use the Local coordinate system of the specified number.

Default: 0 (Base)

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