Adjustment guidelines for the PressMove object

The following describes the ways you can make adjustments when using the PressMove object.

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

• 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 Firmness in pressing direction.

• When the robot does not reach to the target force:
  Decrease the Firmness value of the pressing direction.
  However, the robot motion may be easy to vibrate. Please perform proper adjustments for your operations.
  To adjust the Firmness, we recommend changing the value gradually (e.g. decrease the value by 10% from its current state).

• When the robot does not move to the pressing direction:
  Confirm that the ControlMode where the robot does not move is either Press+ or Press-.
  When Press+ or Press- is set, confirm whether the PressForce is set to "0".

• When the robot moves in the reverse direction:
  Confirm that the ControlMode where the robot moves in the reverse direction is either Press+ or Press-.
  When the robot is set to assumed direction, confirm the ForceOrient or RobotLocal of the force guide sequence, tool coordinate system, or local coordinate system.

• When the robot does not reach to the destination point:
  If the direction where the force control functions are not enabled is not reached to the destination point, it may be affected by the LimitAccel or LimitSpeed of the force guide sequence. Increase the value.
  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.