- Name Property
This property sets a particular name that is assigned to force guide object.
This property sets a particular name that is assigned to force guide object. When creating the ContactProbe object, name is assigned automatically. Automatically assigned name is added a number after ContactProbe (e.g. ContactProbe01).
You can change the name. Set up 16 characters at the maximum. Please use alphanumeric characters and underscore "_". 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.
When specifying False, execute the next force guide object without executing the force guide object.
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
- ProbeTrajectory Property
This property sets trajectory for force guide objects.
Value | Description |
|---|
| Straight | Move the start point along with the straight-line trajectory and repeat the contact motion. |
| Spiral | Move the start point along with the spiral trajectory and repeat the contact motion. |
Default: Straight
- AccelS Property
This property sets acceleration when moving to a start point of contact.
| Value (unit: [mm/sec2]) |
|---|
| Minimum Value | 1 |
| Maximum value | 5000 |
Default: 200
- SpeedS Property
This property sets speed when moving to a start point of contact.
| Value (unit: [mm/sec]) |
|---|
| Minimum Value | 1 |
| Maximum value | 250 |
Default: 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
- SpiralPitch Property
This property sets a pitch of the spiral trajectory.
This property is used when Spiral is specified by ProbeTrajectory property.
| Value (Unit: [mm]) |
|---|
| Minimum Value | 0.05 |
| Maximum value | 10 |
Default: 1
- 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
- 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
- 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
- ContactInterval Property
This property sets a movement amount of the contact start position.
When the robot contacts during the contact motion, the next contact motion starts where the robot moves the distance specified by ContactInterval.
| Value (Unit: [mm]) |
|---|
| Minimum Value | 0.05 |
| Maximum value | 10 |
Default: 0.1
- ContactOrient Property
Set a hole direction.
Set the direction in the coordinate system specified by ForceOrient of the force guide sequence.
Select from translation direction (+Fx to -Fz). The robot probes a hole while moving 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
- ContactDist Property
This property sets an assumed distance between the start position and the hole position.
When the robot moves ContactDist + ContactDistMargin, it determines as "a hole is detected" and proceeds to the next force object.
| Value (Unit: [mm]) |
|---|
| Minimum Value | 0.1 |
| Maximum value | 50 |
Default: 10
- ContactDistMargin Property
This property sets a margin which is added to a distance between the start point and the hole position.
Be sure to set a value with consideration for the maximum difference of each distance. When the robot moves ContactDist + ContactDistMargin, it determines as "a hole is detected" and proceeds to the next force object.
| Value (Unit: [mm]) |
|---|
| Minimum Value | 0.1 |
| Maximum value | 50 |
Default: 10
- ContactFirmnessF Property
This property sets a firmness of force control functions during execution of the force guide object.
When the value of ContactFirmnessF increases, the force control function will become stronger. Response to changes of the force is slow, however, vibration hardly occurs.
When the value of ContactFirmnessF 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
- 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
- ContactForceThresh Property
This property sets a threshold of force to determine the contact. When the value specified by this property is exceeded during execution of the PressProbe object, the robot returns to the contact start position, and then moves to the next contact start 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. Relative position is calculated by directions and movement amount specified by ContactOrient, ContactDist, and ContactDistMargin.
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
- 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
- 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
- Timeout Property
This property sets the time-out period of the force guide object.
When the single contact motion is not satisfied end conditions of force or position even if exceeding the time specified by Timeout, it is determined as failure of ContactProbe object.
After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.
When the end conditions of force are satisfied, the robot moves to the next contact position and repeats the contact motion. When the end conditions of positions are satisfied, the robot determines as "a hole is detected" and proceeds to the next force object.
| Value (unit: [sec]) |
|---|
| Minimum Value | 0.1 |
| Maximum value | 60 |
Default: 10