Guidelines for Adjusting ContactProbe Object

The following describes the adjustment methods for the ContactProbe object.

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

• When the robot does not move to the contact direction:
  Check whether the ContactOrient is correct.
  When ContactOrient is correct, increase the absolute value of ContactForceThresh.

• When it takes time to perform the contact motion:
  Decrease a value of ContactFirmnessF or increase an absolute value of ContactForceThresh.
  However, the applied force to the workpiece is increased. Please perform proper adjustments for your operations.

• When the probe motion speed is slow:
  Increase the values for SpeedS and AccelS.

• Increase SpeedS and AccelS.
  When it takes time:
  When the robot repeats the contact motions to a hole position several times, increase ContactInterval. Please perform proper adjustments for your operations.
  Please perform proper adjustments for your operations.