Paste Sequence

The following describes properties of the Paste sequence and its setting steps.

Property setting guidelines for Paste sequence

Step 1. Set basic information
Set properties related to the basic information.

Properties
Description
Name

Force guide sequence name.

Set a particular name.

Index

Particular number for a force guide sequence.

It is assigned automatically. You cannot set this.

Description

Descriptions for force guide sequence.

Describe the tasks. Set a character string.

Version

A compatible version of the sequence.

The sequence operates with the specified version function.

RobotNumber

Robot number to execute a force guide sequence.

Set a robot number to be executed.

RobotType

Robot number to execute a force guide sequence.

Set a robot number to be executed.

AutoStepID

Set whether to set StepID of force guide object automatically.

StepID is an ID which is recorded in the log data. It helps you to understand which log data support a process.

True: Normal

False: When you want to set StepID manually.

PointFile

Set a point file which will be used in a force guide sequence.

An error occurs when the specified point file is not loaded at the start. This is a property for preventing a wrong operation.

If a point file is not set, any point file whichever loads is executed.

RobotTool

Set a tool number which will be used in a force guide sequence.

An error occurs when the set tool number is not selected at the start. This is a property for preventing a wrong operation.

Step 2. Set for correction of sensor value
Set properties (ResetSensor, MPNumber) related to sensor value correction.

Properties
Description, setting guide
ResetSensor Set whether to reset the Force Sensor when executing a force guide object other than Decision object and SPELFunc object for the first time during the force guide sequence execution.

True: When a workpiece has not been in contact with anything at the start of the force guide sequence.

(Normally, it is in the non-contact state at the start of the force guide sequence.)

False : Used in rare cases, such as when a force guide sequence is executed, and then another force guide sequence is executed with the contact state unchanged.
MPNumber

Specify the number of Mass Property Object which is used during the force guide sequence execution.

Mass Property Object is a collection of properties using for gravity compensation.

"0":

When the orientations (U, V, W) do not change greatly during the force guide sequence execution.

Created Mass Property number:

When the orientations change greatly during the force guide sequence execution.

For more details on Mass Property, refer to the following section.

Software Gravity Compensation

Step 3. Set for coordinate system of force control function
Set properties (ForceOrient, RobotLocal, RotationCenterType, RotationCenterTLX, RotationCenterTLY, RotationCenterTLZ) related to a coordinate system of the force control function.

Properties
Description, setting guide
ForceOrient Set a coordinate system direction which executes the force control function.

Base, Local:

When you want to execute the force control function to a defined direction as viewed from outside, such as pressing to vertical-downward, even if the start orientation of force guide sequence is changed.

Local is specified when a defined direction is different from the axis of the Base coordinate system.

The following is an example to set Base.

image

Tool:

When you want to execute the force control function depending on an orientation at the start.

The following is an example to set Tool.

When pressing to +Z direction, the pressing direction changes depending on the orientation of end effector at the start.

image

RobotLocal Set Local coordinate system number which is used when ForceOrient is Local.

RotationCenterTLX

RotationCenterTLY

RotationCenterTLZ

Set an offset amount to each axis from Tool coordinate system to the rotation center.

You can check the settings related to the coordinate system of the force control function by using a simulator.
However, if no force guide object is aligned in the force guide sequence, check the setting after adding the force guide objects.
For details on how to check by using simulator, refer to the following manual.
"Epson RC+ 8.0 User's Guide: - Simulator - Description of Functions"

Step 4. Set the maximum speed and the maximum acceleration
Set properties (LimitAccelS, LimitAccelR, LimitSpeedS, LimitSpeedR) related to the maximum speed and the maximum acceleration.

Properties
Description, setting guide

LimitSpeedS

LimitSpeedR

Set a maximum speed during the execution of the force guide sequence.

LimitSpeedS: Maximum translational speed

LimitSpeedR: Maximum rotational rotation speed

In the force control function, the speed changes depending on the how the force is applied. It is controlled not to exceed LimitSpeedS and LimitSpeedR.

LimitAccelS

LimitAccelR

Set a maximum acceleration during the execution of the force guide sequence.

LimitAccelS: Maximum translational acceleration

LimitAccelR: Maximum rotational rotation acceleration

In the force control function, the acceleration changes depending on how the force is applied. It is controlled not to exceed LimitAccelS and LimitAccelR.

If the value is small, reaction when the force is applied will be slow and the robot will bounce largely.

Set a larger value when the robot bounces. When the robot vibrates, set the value smaller.

Step 5. Set conditions about recording
Set properties (LogRobotLocal, LogFileEnabled, LogFileAutoName, LogFileNameVar, LogFileMaxTime, LogFileInterval) related to recording.

Properties
Description, setting guide
LogRobotLocal

Set a Local coordinate system number which will be a reference of the recording robot position.

Log data related to positions is recorded as positions of the specified Local coordinate system.

Base: Normal
Local coordinate system number: When you want to record as a position in the specified Local coordinate system
LogFileEnabled Set whether to save the log data which is executing a force guide sequence to a file.

False: It is not saved in a file.

You can check the log data on the graph of force guide window when executing.

LogFileAutoName Set whether to set the log data file name automatically.

True : When Automatically set

Is generated by the force guide sequence name and the start time. "Force guide sequence name_yyyymmdd_hh:mm:ss:ms"

False: When specifying a name
LogFileNameVar Set a global variable which indicates a log data file name when LogFileAutoName is False.
LogFileInterval Set a sampling interval of log data when creating files.
LogFileMaxTime Set a maximum time of log data when creating files.

Details on properties of Paste sequence

  • Name Property
    This property sets a particular name that is assigned to force guide sequences.
    You cannot create the force guide sequence with the same name.
    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.
  • Index Property
    This property displays a number of force guide sequence.
    This property is set and updated automatically. It cannot be edited.
    Value
    Minimum Value 1
    Maximum value 16
  • Description Property
    This property sets a description of force guide sequence.
    You can set the character string up to 255 characters.
  • Version Property
    For system sequence, the version 7.5.1 supports. It cannot be changed.
  • RobotNumber Property
    This property sets a robot number that uses a force guide sequence.
    An error occurs when executing the force guide sequence by the robot which is not specified.
    Value
    Description
    1 to 16 Robot number to use a force guide sequence.
    Default: Robot number specified in the sequence wizard.
  • RobotType Property
    This property is the robot types that use a force guide sequence.
    It is automatically set from the robot number specified by RobotNumber. It cannot be edited.
  • AutoStepID Property
    This property sets an automatic assignment of StepID in force guide object execution.
    When assigning a StepID automatically, it is set to the force guide sequence number*100 + the force guide object number.
    StepID is recorded to files that the force and the position during the force guide sequence execution is recorded. It is used to determine which interval corresponds to which force guide object.
    Value
    Description
    True Set StepID automatically.
    False Set a property value of StepID of each force guide object.
    Default: True
  • ResetSensor Property
    This property sets whether to reset a Force Sensor when starting force guide object other than Decision object and SPELFunc object for the first time in the force guide sequence.
    Value
    Description
    True Reset the Force Sensor when starting a force guide object other than Decision object and SPELFunc object.
    False Force Sensor is not reset.
    Default: True
  • MPNumber Property
    This property sets the number of Mass Property Object which is used during the force guide sequence execution.
    Mass Property Object is a collection of properties using for gravity compensation.
    You need to define Mass Property Object in advance.
    If an angle will change largely during the execution of the force guide sequence, make sure to specify the proper Mass Property Object.
    Value
    Description
    0 Turn OFF the gravity compensation.
    1 to 15 Use the specified Mass Property.
    Default: 0
  • PointFile Property
    This property sets the point file name that is used during the force guide sequence execution.
    If the point file which is not specified by this property is loaded when the force guide sequence starts, an error occurs. This is a property for preventing a wrong operation.
    Value
    Description
    None

    Not specified

    (Any point file whichever loads can be executed without checking it.)

    Point file name An error occurs when the specified point file is not loaded.
    Default: None
  • RobotTool Property
    This property sets the Tool coordinate system number that is used during the force guide sequence execution.
    If the Tool coordinate system number which is not specified by this property is selected when the force guide sequence starts, an error occurs. This is a property for preventing a wrong operation.
    Value
    Description
    0 to 15 An error occurs when the set tool number is not selected.
    Default: 0
  • ForceOrient Property
    This property specifies the direction of coordinate system that uses the force control functions during the force guide sequence execution.
    You can select from Base, Local, and Tool. Specify the coordinate system that the direction to paste.
    If Base or Local is specified, the direction to paste will not be changed even if the robot orientation changes.
    If Tool is specified, the direction to paste changes since the direction of Tool coordinate system changes when the robot orientation is changed.
    Value
    Description
    Base The direction of the coordinate system to which the force control function is applied is the Base coordinate system
    Local The direction of the coordinate system to which the force control function is applied is the Local coordinate system
    Tool The direction of the coordinate system to which the force control function is applied is the Tool coordinate system
    Default: Tool
  • RobotLocal Property
    This property specifies the Local coordinate system number of coordinate system that applies the force control functions during the force guide sequence execution.
    It is used when ForceOrient property is Local.
    Value
    Description
    0 (Base)

    Use the Local 0 coordinate system (Base coordinate system).

    It is the same as when specifying Base in ForceOrient.

    1 to 15 Use the Local coordinate system of the specified number.
    Default: 0 (Base)
  • RotationCenterTLX Property
    This property sets a distance in X direction from Tool coordinate system to the rotation center of the force control function.
    It is the X direction of the Tool coordinate system which is selected in RobotTool.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • RotationCenterTLY Property
    This property sets a distance in Y direction from Tool coordinate system to the rotation center of the force control function.
    It is the Y direction of the Tool coordinate system which is selected in RobotTool.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • RotationCenterTLZ Property
    This property sets a distance in Z direction from Tool coordinate system to the rotation center of the force control function.
    It is the Z direction of the Tool coordinate system which is selected in RobotTool.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • LimitSpeedS Property
    This property sets the maximum speed during the execution of force guide sequence.
    The robot motion will change depending on applied force and torque when executing the force guide sequence since it is adjusted by the force control functions. However, it is restricted by the speed which is specified by this property.
    Value (unit: [mm/sec])
    Minimum Value 0.1
    Maximum value 250
    Default: 50
  • LimitSpeedR Property
    This property sets the maximum rotation speed during the execution of force guide sequence.
    The robot motion will change depending on applied force and torque when executing the force guide sequence since it is adjusted by the force control functions. However, it is restricted by the rotation speed which is specified by this property.
    Value (unit: [deg/sec])
    Minimum Value 0.1
    Maximum value 180
    Default: 25
  • LimitAccelS Property
    This property sets the maximum acceleration during the execution of force guide sequence.
    The robot motion will change depending on applied force and torque when executing the force guide sequence since it is adjusted by the force control functions. However, it is restricted by the acceleration which is specified by this property.
    Value (unit: [mm/sec2])
    Minimum Value 0.1
    Maximum value 25000
    Default: 200
  • LimitAccelR Property
    This property sets the maximum rotation acceleration during the execution of force guide sequence.
    The robot motion will change depending on applied force and torque when executing the force guide sequence since it is adjusted by the force control functions. However, it is restricted by the rotation acceleration which is specified by this property.
    Value (unit: [deg/sec2])
    Minimum Value 0.1
    Maximum value 5000
    Default: 100
  • LogRobotLocal Property
    For the positional orientation of the robot that is recorded during the force guide sequence execution, set a reference local coordinate system number.
    The position of the robot is recorded as that of Tool coordinate system as viewed from the Local coordinate system specified by this property.
    Value
    Description
    0 (Base) Use the Local 0 coordinate system (Base coordinate system).
    1 to 15 Use the Local coordinate system of the specified number.
    Default: 0 (Base)
  • LogFileEnabled Property
    This property sets whether to save the force, torque, and the position of the robot during the force guide sequence execution in files.
    When specifying True, value will be displayed in the graph on the monitor and saved in the files simultaneously.
    When specifying False, value will be displayed in the graph on the monitor. However, the value is not saved in the files.
    Value
    Description
    True Save the log data in a file.
    False The log data is not saved in a file.
    Default: False

  • LogFileAutoName Property
    This property sets whether to automatically set the file name that records force, torque, and the position of the robot during the force guide sequence execution.

    When specifying True, the file name is automatically set with the force guide sequence name + start time.
    Force guide sequence name_yyyymmdd_hhmmssfff.csv

    When specifying False, add ".csv" to the string in variables which is specified in LogFileNameVar to make it a file name.

    Value
    Description
    True Set the name of the log data file automatically.
    False Set a log data file name to the one which is specified by LogFileNameVar.

    Default: True

  • LogFileNameVar Property
    This property sets a global string variable that saves a file name which records force, torque, and the position of the robot during the force guide sequence execution.
    It is used when False is specified in LogFileAutoName. Add ".csv" to the string in variables and set it as a file name.
    Value
    Description
    None Not specified (automatically set)
    Variable name

    Value of the specified global string variable will be a file name.

    Only a string variable can be specified.

    Default: None
  • LogFileInterval Property
    This property sets the sampling period for the files that record force, torque, and the position of the robot during the force guide sequence execution.
    Value (unit: [sec])
    Minimum Value 0.002
    Maximum value 1
    Default: 0.2
  • LogFileMaxTime Property
    This property sets the maximum recording time for the files that record force, torque, and the position of the robot during the force guide sequence execution.
    If the specified recording time is shorter than the execution time of the force guide sequence, nothing is recorded in the file after the recording time is passed. note that
    Value (unit: [sec])
    Minimum Value 60
    Maximum value 600
    Default: 60

Details on the results of the Paste sequence

  • EndStatus Result
    It is a result of the execution.
    Result will be succeeded when the force guide sequences are executed to the end and the final force guide object is succeeded or AbortSeqOnFail property of the final force guide object is False.
    Value
    Description
    Passed Force guide sequence is succeeded.
    Failed Force guide sequence is failed.
    NoExec Force guide sequence is not executed.
    Aborted Aborted during the execution of force guide sequence.
  • FailedStatus Result
    It is the reason why the force guide sequence failed.
    It is the reason for failure when the result of executing an object with AbortSeqOnFail set to True.
    Value
    Description
    OK Force guide sequence is succeeded.
    GeneralObjectFailed General object is failed.
    ForceConditionFailed Failed due to the force is out of the range of success conditions.
    PosConditionFailed Failed due to the position is out of the range of success conditions.
    Overrun Failed due to overrun.
  • Time Result
    This is the time required for execution.
    Unit: [sec]
  • LastExecObject Result
    Force guide object name which is executed at the end.
  • EndForces Result
    Force and torque when force guide sequence ends. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
    Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]
  • PeakForces Result
    Peak values of force and torque during the force guide object execution. The peak value is a value which absolute value is the largest. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
    Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

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