Setting Guidelines for the Paste Sequence Wizard
Use the sequence wizard to create a Paste sequence. This sequence wizard can be displayed by doing the following.
- Right click the sequence flow in the flowchart, or the sequence node in the sequence tree, and then select [Sequence Wizard].
- Click
shown to the right of the [Click to open->] Wizard setting in the Paste sequence property.
When the sequence wizard appears, configure settings as instructed on the screen.
The sequence wizard for a Paste sequence can also be configured on the new sequence screen for creating a new force guide sequence. For more information, see the following section.
Software [Force Guidance] [Tools] menu
- Create a new force guide sequence - Sequence Wizard, Create a new system force guide sequence
Step 1. Select the robot tool to use for the end effector
Select the tool number to be used for the Paste sequence and Paste object.
Item | Description, setting guide |
|---|---|
| Tool | Select the tool number to be used. Select a tool number so that the end point of the workpiece is at the tool origin point. Tool numbers set are sorted in the list. To set a new tool, use the Tool Wizard button. For more information, see the following section. "Epson RC+ 8.0 User's Guide - Epson RC+ 8.0 GUI - [Tools] menu, [Tools] - [Robot Manager] - [Tool Settings] panel" Minimum value: 0 Maximum value: Maximum value for the set tool number Default: 0 |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | When opening from the new sequence creation screen, you can return to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 2. Set tool offsets
When the tool set in Step 1 is not set in the center of the workpiece tip, this setting is required. Set the offset amount from the tool to the center of the workpiece tip.
Item | Description, setting guide |
|---|---|
| X Offset | Sets the offset amount in the X direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| Y Offset | Sets the offset amount in the Y direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| Z Offset | Sets the offset amount in the Z direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 3. Paste coordinate system and direction
Set the paste direction.
Select "Tool" to perform the paste operation that matches the orientation when starting the sequence.
Select "Base or Local" to perform the paste operation in the direction that matches the workpiece regardless of the orientation when starting the sequence.
Item | Description, setting guide |
|---|---|
| Robot local | Select the coordinate system used in the Paste sequence. When the paste coordinate system is selected as "Base or Local", the robot operates in this coordinate system. Select the coordinate system according to the workpiece direction to be pasted. Minimum value: Base (0) Maximum value: 15 Default: Base |
| Paste direction | Select the direction to paste. When the paste coordinate system is selected in "Tool", the tool coordinate system set in Step 1 is selected, and the Paste sequence and Paste object operate in the paste direction. When the paste coordinate system "Base or Local" is selected, the Paste sequence and Paste object selected in the base or local coordinate system operate in the paste direction. Values: +Fx, -Fx, +Fy, -Fy, +Fz, -Fz Default: +Fz |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 4. Set whether paste surface alignment should be performed
Select whether to enable surface alignment.
Item | Description, setting guide |
|---|---|
| Surface alignment enabled | Sets whether to follow the workpiece to the pasting target. When enabled, the operation to follow the surface in the direction of the yellow arrow (rotation) shown on the left of the wizard is performed while the paste operation. Set when pasting is not completed until the workpiece surface and the target surface to be pasted match. Default: Enabled |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 5. Set paste approach distance
Set approach distance for paste operation.
Item | Description, setting guide |
|---|---|
| Approach distance | Set an approach distance. The approach distance is distance 1 depicted in the diagram below, which is the distance between the end point of the gripped workpiece at the start point of the Paste sequence indicated by the red dot, and upper surface of paste target. Teach the robot a start point of the motion that shortens the approach distance as much as possible. As the force control function is slower than position control, longer approach distances will result in longer cycle times.
Minimum value: 0 [mm] Maximum value: 50 [mm] Default: 10[mm] |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 6. Set paste force
Set force for paste operation.
Item | Description, setting guide |
|---|---|
| Paste force | Set a force applied to the paste direction. When you press the |
When the paste direction is positive Minimum value: -50.0 [N] Maximum value: 0.0 [N] Default: -10.0 [N] | |
When the paste direction is negative Minimum value: 0.0 [N] Maximum value: 50.0 [N] Default: 10.0 [N] | |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 7. Set paste firmness
Set the firmness of the force control function in the paste direction from the preset.
While this property setting can be configured directly, this is for advanced users.
Item | Description, setting guide |
|---|---|
| Toughness | Set a firmness of the workpiece. Select from three presets, "Fragile (glass)", "Medium (plastic)", or "Hard (metal)" |
When selecting "Fragile": The reaction speed of the force applied in the pasting direction is reduced. | |
When selecting "Hard": The reaction speed of the force applied in the pasting direction is increased. | |
| PressFirmnessF | Set the firmness of the force control function in the direction of pasting. |
When setting a large value: The Force Control functions become stronger, but response to changes in force is slow. | |
When setting a small value: The Force Control function will become weaker. Response to changes in force is fast; however, vibrations can easily occur. | |
This can be set by selecting advanced settings. By pressing the Minimum value: 0.1 Maximum value: 10 Default: 3.0 | |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 8. Set paste surface alignment firmness
Set the firmness of the force control function in the paste surface alignment direction from the preset.
While this property setting can be configured directly, this is for advanced users.
Item | Description, setting guide |
|---|---|
| Surface Length | Select the length from the contact position (set as tool center position) to the workpiece end point. Choose from three presets: "Short", "Medium", and "Long". The guideline for the tolerance to select is as follows. Short: up to 60 [mm] Medium: up to 100 [mm] Long: up to 200 [mm] The length is the blue arrow in the figure below. This is the length of the radius of a circle from the center point (point of contact) to the most distant edge of the workpiece, thus large enough to fit the surface area of the workpiece.
The shorter the selection, the faster the reaction will follow the face-to-face direction. The longer the selection, the slower the reaction to follow the face-to-face direction. |
| AlignFirmnessT | Set the firmness of the force control function in the direction of surface alignment. |
When setting a large value: The Force Control functions become stronger, but response to changes in force is slow. | |
When setting a small value: The Force Control function will become weaker. Response to changes in force is fast; however, vibrations can easily occur. | |
This can be set by selecting advanced settings. Press the Minimum value: 10.0 Maximum value: 100000 Default: 1000 | |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 9. Configure the completion conditions for the paste operation
Configure the completion conditions for the paste operation.
Item | Description, setting guide |
|---|---|
| Force Tolerance | The paste direction range for the end condition related to force. Set a range to use as the end condition. This monitors whether the force in the direction specified either by the Fx, Fy, or Fz paste direction (PasteForce) is within the PressForce± tolerance range. For example, if the direction of insertion is set to +Fz, the force in the Fz direction will be monitored on whether its value is within this range. The following diagram provides a visual representation.
The lower this tolerance value, the stricter success conditions are for the operation. It is recommended that you increase the tolerance, and then adjust it back based on actual operation results obtained. Minimum value: 0.1 [N] Maximum value: 10 [N] Default: 1.0 [N] |
| Torque Tolerance | Set the range to use as the end condition related to torque. This monitors whether the torque represented by Tx, Ty, or Tz is within the tolerance range. However, note that torque around the direction of paste is not monitored. For example, if the direction of paste is set to +Fz and alignment is enabled, the torque in the Tx and Ty directions will be monitored on whether its value is within this range. If alignment is disabled, torque is not monitored. The following diagram provides a visual representation.
The lower this tolerance value, the stricter success conditions are for the operation. It is recommended that you increase the tolerance, and then adjust it back based on actual operation results obtained. Minimum value: 1 [N·mm] Maximum value: 100000 [N・mm] Default: 100 [N・mm] |
| Completion Duration | Set the duration time which is used to determine whether the end conditions have satisfied. As shown below, if the specified condition continues for the time specified by Completion Duration, it is determined as the end conditions are satisfied.
Normally, set a short time close to "0". Minimum value: 0.0 [sec] Maximum value: 10 [sec] Default: 0.1 [sec] |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 10. Set the timeout for the operation
Set the time-out for the operation.
Item | Description, setting guide |
|---|---|
| Timeout | Set the time-out duration. The time-out set is the paste operation execution time. If the paste operation fails to meet the end conditions set in Step 9 even when the time-out elapses, the paste operation will be aborted in failure. Minimum value: 0.1 [sec] Maximum value: 60 [sec] Default: 10.0 [sec] |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | You can proceed to the Change Summary screen. When you open from the new sequence creation screen, you can proceed to the Finish screen. |
| [Finish] button | You cannot click this button. |
Step 11. Change Summary
You can see the list of properties that have been changed in the wizard.
This is displayed when you edit the created Paste sequence in the Sequence Wizard. It is not displayed when creating a new one.
Item | Description |
|---|---|
| Object Property | Shows which properties of which sequence or object have been changed as a result of changing settings in the wizard. |
Previous Value New Value | Shows how the properties have been changed as a result of changing the settings in the wizard. |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to Step 10. |
| [Next] button | You cannot click this button. |
| [Finish] button | Completes changing the Paste sequence with the entered contents. |
Finish: Paste Sequence Created
This is the completion screen for the set sequence. You can check the created sequence name and type. The screen is displayed when opening from the new sequence creation screen.
Item | Description |
|---|---|
| Name | The sequence name set in Step 1. General. Refer to the next section for setting the sequence name. Software [Force Guidance] [Tools] menu - Create a new force guide sequence - Sequence Wizard: Create a new system force guide sequence - Step1: General |
| Type | The sequence type set in Step 3. Select system sequence. Refer to the next section for selecting the sequence type. Software [Force Guidance] [Tools] menu Create a new force guide sequence - Sequence Wizard: Create a new system force guide sequence -Step 3: Select system sequence |
| [Cancel] button | Cancels a new Paste sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to Step 10. |
| [Next] button | You cannot click this button. |
| [Finish] button | Completes creating a new Paste sequence with the entered contents. |