Details on the properties of the Press object

• Name Property
  This property sets a particular name that is assigned to force guide object. When creating the Press object, a name is assigned automatically. Automatically assigned name is added a number after Press (e.g. Press01).
  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

• Fx_ControlMode Property
  Set the control mode in Fx direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions to Fx direction are not executed. When specifying Press+ or Press−, the force control function in the Fx direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Fx_PressForce. When specifying Follow, the force control functions to Fx direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Fx_PressForce Property
  This property sets pressing force to Fx direction during the execution of force guide objects. It is used when Fx_ControlMode is Press+ or Press-

  When ControlMode is Press+:

  	Value (unit: [N])
  Minimum Value	-250
  Maximum value	0

  Default: 0

  When ControlMode is Press-

  	Value (unit: [N])
  Minimum Value	0
  Maximum value	250

  Default: 0

• Fx_Firmness Property
  This property sets a firmness of force control functions in Fx direction during the execution of force guide object. It is used when Fx_ControlMode is Press+, Press-, or Follow
  When the value of Fx_Firmness increases, the force control function in the Fx direction will become stronger. Response to changes in force is slow; however, vibration rarely occurs. When Fx_Firmness decreases, the force control function in the Fx direction will become weaker. Response to changes in force becomes faster; however, vibrations easily occur.

  	Value
  Minimum Value	0.1
  Maximum value	200

  Default: 10

• Fy_ControlMode Property
  Set the control mode in Fy direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions to Fy direction are not executed.
  When specifying Press+ or Press−, the force control function in the Fy direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Fy_PressForce. When specifying Follow, the force control functions to Fy direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Fy_PressForce Property
  This property sets pressing force to Fy direction during the execution of force guide objects. It is used when Fy_ControlMode is Press+ or Press-

  When ControlMode is Press+:

  	Value (unit: [N])
  Minimum Value	-250
  Maximum value	0

  Default: 0

  When ControlMode is Press-

  	Value (unit: [N])
  Minimum Value	0
  Maximum value	250

  Default: 0

• Fy_Firmness Property
  This property sets a firmness of force control functions in Fy direction during the execution of force guide object. It is used when Fy_ControlMode is Press+, Press-, or Follow.

  When the value of Fy_Firmness increases, the force control function in Fy direction will become stronger. Response to changes of the force is slow, however, vibration hardly occurs. When Fy_Firmness decreases, the force control function in Fy direction 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

• Fz_ControlMode Properties
  Set the control mode in Fz direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions to Fz direction are not executed. When specifying Press+ or Press−, the force control function in the Fz direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Fz_PressForce. When specifying Follow, the force control functions to Fz direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Fz_PressForce Property
  This property sets pressing force to Fz direction during the execution of force guide objects. It is used when Fz_ControlMode is Press+ or Press-

  When ControlMode is Press+:

  	Value (unit: [N])
  Minimum Value	-250
  Maximum value	0

  Default: 0

  When ControlMode is Press-

  	Value (unit: [N])
  Minimum Value	0
  Maximum value	250

  Default: 0

• Fz_Firmness Property
  This property sets a firmness of force control functions in Fz direction during the execution of force guide object. It is used when Fz_ControlMode is Press+, Press- or Follow.
  When the value of Fz_Firmness increases, the force control function in Fz direction will become stronger. Response to changes in force is slow; however, vibration rarely occurs. When Fz_Firmness decreases, the force control function in Fz direction 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

• Tx_ControlMode Property
  Set the control mode in Tx direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions in the Tx direction are not executed. When specifying Press+ or Press−, the force control function in the Tx direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Tx_PressForce. When specifying Follow, the force control functions to Tx direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Tx_PressForce Property
  This property sets pressing force to Tx direction during the execution of force guide objects. It is used when Tx_ControlMode is Press+ or Press-

  When ControlMode is Press+:

  	Value (unit: [N・mm])
  Minimum Value	-18000
  Maximum value	0

  Default: 0

  When ControlMode is Press-

  	Value (unit: [N・mm])
  Minimum Value	0
  Maximum value	18000

  Default: 0

• Tx_Firmness Property
  This property sets a firmness of force control functions in Tx direction during the execution of force guide object. It is used when Tx_ControlMode is Press+, Press-, or Follow.

  When the value of Tx_Firmness increases, the force control function in Tx direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Tx_Firmness decreases, the force control function to Tx direction 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

• Ty_ControlMode Property
  Set the control mode in Ty direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions in the Ty direction are not executed. When specifying Press+ or Press−, the force control function in the Ty direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Ty_PressForce. When specifying Follow, the force control functions to Ty direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Ty_PressForce Property
  This property sets pressing force to Ty direction during the execution of force guide objects. It is used when Ty_ControlMode is Press+ or Press-

  When ControlMode is Press+:

  	Value (unit: [N・mm])
  Minimum Value	-18000
  Maximum value	0

  Default: 0

  When ControlMode is Press-

  	Value (unit: [N・mm])
  Minimum Value	0
  Maximum value	18000

  Default: 0

• Ty_Firmness Property
  This property sets a firmness of force control functions in Ty direction during the execution of force guide object. It is used when Ty_ControlMode is Press+, Press-, or Follow.

  When the value of Ty_Firmness increases, the force control function in Ty direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Ty_Firmness decreases, the force control function to Ty direction 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

• Tz_ControlMode Property
  Set the control mode in Tz direction in the coordinate system specified by ForceOrient of the force guide sequence.

  When specifying Disabled, the force control functions to Tz direction are not executed. When specifying Press+ or Press−, the force control function in the Tz direction is executed in the press mode. In the press mode, the robot presses so as to become the force specified by Tz_PressForce. When specifying Follow, the force control functions to Tz direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.

  Value	Description
  Disabled	Disable the force control functions.
  Press+	The force control functions are executed to press in the positive direction.
  Press-	The force control functions are executed to press in the negative direction.
  Follow	The force control functions are executed to perform the Follow motion.

  Default: Disabled

• Tz_PressForce Property
  This property sets pressing force to Tz direction during the execution of force guide objects. It is used when Tz_ControlMode is Press+ or Press-.

  • When ControlMode is Press+:

    	Value (unit: [N・mm])
    Minimum Value	-18000
    Maximum value	0

    Default: 0

  • When ControlMode is Press-

    	Value (unit: [N・mm])
    Minimum Value	0
    Maximum value	18000

    Default: 0

• Tz_Firmness Property
  This property sets a firmness of force control functions in Tz direction during the execution of force guide object. It is used when Tz_ControlMode is Press+, Press-, or Follow.
  When the value of Tz_Firmness increases, the force control function in Tz direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Tz_Firmness decreases, the force control function to Tz direction 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
  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

• EndCheckOperator Property
  This property sets the combination conditions when using several end conditions of the force guide object.
  When specifying AND, if all of the enabled end conditions are satisfied, the force guide object execution ends. The execution is deemed successful, and it proceeds to the next force guide object.
  When specifying OR, if some of the enabled end conditions are satisfied, the force guide object execution ends. The execution is determined as succeeded and proceed to the next force guide object.

  Value	Description
  OR	Combine as OR condition.
  AND	Combine as AND condition.

  ForceCheckEnabled Property

• 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

• ForceCheckMode Property
  This property sets the direction used as an end condition related to force.

  Value	Description
  Press	Direction (Press+, Press-) specified by ControlMode is a force condition.
  PressFollow	Direction (Press+, Press-, and Follow) specified by ControlMode is a force condition.

  Default: Press

• ForceCheckPolarity Property
  For an end condition related to force, this property sets whether the end condition is being inside or outside of the specified range.

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

  Default: Inside

• PressCheckTolF Property
  This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True in a direction where Press is specified by ControlMode in Fx, Fy, and Fz directions.
  Determine that the force in each direction is inside or outside of the range of PressForce -PressCheckTolF to PressForce +PressCheckTolF.

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

  Default: 1

• PressCheckTolT Property
  This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True in a direction where Press is specified by ControlMode in Tx, Ty, and Tz directions.
  Determine that the force in each direction is inside or outside of the range of PressForce -PressCheckTolT to PressForce +PressCheckTolT.

  	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

• FollowCheckTolF Property
  This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True and ForceCheckMode is set to PressFollow in a direction where Follow is specified by ControlMode in Fx, Fy, and Fz directions.
  Determine that the force in each direction is inside or outside of the range of -FollowCheckTolF to +FollowCheckTolF.

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

  Default: 1

• FollowCheckTolT Property
  This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True and ForceCheckMode is set to PressFollow in a direction where Follow is specified by ControlMode in Tx, Ty, and Tz directions.
  Determine that the force in each direction is inside or outside of the range of -FollowCheckTolT to +FollowCheckTolT.

  	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.
  When the specified condition 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

• 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

• 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

• 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

• 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.

  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

• 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

• 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

• 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

• 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.

Default: 0 (Base)

• IOCheckEnabled Property
  This property sets the end conditions of the force guide object related to I/O.

  Value	Description
  True	Enable the end conditions related to I/O.
  False	Disable the end conditions related to I/O.

  Default: False

• IOCheckInputBit Property
  This property sets the bit of determination target of the end conditions related to I/O. It is used when IOCheckEnabled is True.

  	Value
  Minimum Value	0
  Maximum value	7167

  Default: 0

• IOCheckInputStatus Property
  This property sets the determination conditions of the end conditions related to I/O. It is used when IOCheckEnabled is True.
  According to the bit specified by IOCheckInputBit, it is determined as the end conditions are satisfied.

  Value	Description
  Off	When the input bit is OFF (0), it is determined as the end conditions are satisfied.
  On	When the input bit is ON (1), it is determined as the end conditions are satisfied.

  Default: Off

• Timeout Property
  This property sets the time-out period of the force guide object.
  Even if the time specified in the Timeout property is exceeded, the Press object is deemed to have failed if the conditions enabled in ForceCheckEnabled, PosCheckEnabled, and IOCheckEnabled were not satisfied.
  After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.
  When ForceCheckEnabled, PosCheckEnabled, and IOCheckEnabled are False, end the force guide object after time specified by Timeout is passed. Determined as succeeded and proceed to the next force guide object.

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

  Default: 10