Paste Object

The Paste object is a force guide object used to move the robot by pressing in a specified direction with a specified amount of force. When pressing, operation to follow is also available to follow the pressed surface.

The diagram above provides a visual representation of a Paste object.
Executed from a non-contact state, this sequence moves the robot in the pressing direction depicted by the white arrow. From the point of contact, the robot continues to apply a set amount of force in the direction shown by the yellow arrow.

• The Paste object succeeds or fails when the end conditions are met within the specified time. The Paste object can apply end conditions related to force and position.
• Each end condition is always applied.
• When all the success conditions for each end condition are met:
  The Paste object execution ends. The execution is determined to be successful and the force guide sequence proceeds to the next force guide object.
• When at least one of the failure conditions for each end condition is met:
  The Paste object execution ends. The execution is determined as failed and the force guide sequence is aborted.

End condition	Success condition
End conditions related to force	During the specified Timeout period, keep all of the following conditions satisfied for the length of the HoldTimeThresh period: For Fx, Fy, and Fz, the force on the axis which is specified in PressOrient should be within the range of PressForce ± PressCheckTolF For Tx, Ty, and Tz, the axis torque which is specified in FollowOrient should be within the range of ± AlignCheckTolT
End conditions related to position	Satisfy the following within the specified time of Timeout. The moving distance from the force guide object start point in the axial direction specified in PressOrient is within the range of ApproachDist - DistCheckTol to ApproachDist + DistCheckTol

End condition	Failure condition
End conditions related to position	Satisfy the following within the specified time of Timeout. The distance moved from the Force Guide object start point in the axial direction specified in PressOrient exceeds ApproachDist + DistCheckTol

Property guideline for Paste object

Step 1. Set basic information
Set properties (Name, Description, StepID, AbortSeqOnFail) related to the basic information.

Properties	Description, setting guide
Name	This property sets names of force guide objects. Set a particular name.
Description	This property sets descriptions about force guide objects. Describe the operations. Set a character string.
StepID	StepID during the force guide object execution. Set an ID. StepID is an ID which is recorded in the log data. It helps you to understand which log data support a process. It is applied when AutoStepID of the force guide sequence is False.
AbortSeqOnFail	Set whether to abort or continue the force guide sequence when the force guide object fails.
	True : Normal End a force guide sequence.
	False : Cases where the force guide sequence contains recovery operations in case of failure; cases where the sequence will be able to continue even in the event of a failure.

Step 2. Set a destination point
Set properties (ApproachDist) related to trajectories to move.

Properties

Description, setting guide

ApproachDist

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.

Step 3. Set the pressing direction and force control functions
Set properties (PressOrient, PressForce, PressFirmnessF, AlignEnabled, AlignOrient, AlignFirmnessT) related to the pressing direction and force control functions.

Properties	Description, setting guide
PressOrient	Sets a direction in which to press. The robot moves to the specified direction.
PressForce	Set a force to press in the paste direction. When PressOrient is positive direction: Enter a negative value. When PressOrient is negative direction: Enter a positive value. Set a proper value for your workpiece. If the value is too small, the robot may not operate.
PressFirmnessF	Set a firmness of the force control functions.
	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.
AlignEnabled	This property sets whether to execute surface alignment.
AlignOrient	Rotational direction for aligning surfaces. It is changed automatically according to PressOrient. Read only. It cannot be edited. Rotate around two translational directions which are not set by PressOrient. For example, when specifying +Fz or -Fz in PressOrient, Tx and Ty (rotation around Fx and Fy) will be AlignOrient.
AlignFirmnessT	Set a firmness of the force control functions in rotation direction.
	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.

You can check the settings of PressOrient by a simulator.
A coordinate system with grayed out except the specified direction is displayed.
However, the robot is displayed based on the current position. When you check the settings, make sure to move the robot to the position where executing the force guide object.
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 basic information for end conditions
Set property (Timeout) related to time-out.

Properties	Description, setting guide
Timeout	Set the time-out duration. When the end conditions are not set: Time-out period is the execution time. When the end conditions are set: Fails when the end conditions are not satisfied within the specified time.

Step 5. Set end conditions related to force
Set properties (PressCheckTolF, AlignCheckTolT, HoldTimeThresh) related to the end conditions of force.

Properties	Description, setting guide
PressCheckTolF	This property sets the pressing direction range of the end conditions related to force. Set a range of the end conditions. PressCheckTolF is applied for Fx, Fy, and Fz. It monitors that the force of directions specified by PressOrient of Fx, Fy, and Fz are within the range of PressForce- PressCheckTolF to PressForce + PressCheckTolF. The following is an image of InsertCheckTolF.
AlignCheckTolT	This property sets the range in the follow direction of the end conditions related to force. AlignCheckTolT is applied for Tx, Ty, and Tz It monitors that the torque of directions specified by AlignOrient of Tx, Ty, and Tz are within the range of - AlignCheckTolT to + AlignCheckTolT. The following is an image of AlignCheckTolT.
HoldTimeThresh	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 HoldTimeThresh, it is determined as the end conditions are satisfied. Normally, set to a short time close to "0". We recommend setting the time according to the actual result.

Step 6. Set end conditions about position
Set property (DistCheckTol) related to the end conditions of the positions.

Properties	Description, setting guide
DistCheckTol	This property sets the inserting direction range of the end conditions related to position. It monitors that the moving distance from the operation start point to the destination point in the direction specified by PressOrient is within the range of ApproachDist - DistCheckTol to ApproachDist + DistCheckTol The following is an image of DistCheckTol.

Details on properties of Paste object

• 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. Automatically assigned name is added a number after Paste (e.g. Paste01).
  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.

• 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

• PressOrient Property
  This property sets the direction of motion for pasting operations in the coordinate system specified by the ForceOrient property for the force guide sequence.

  Value	Description
  +Fx	Sets the direction of motion to the +Fx direction in the specified coordinate system.
  -Fx	Sets the direction of motion to the -Fx direction in the specified coordinate system.
  +Fy	Sets the direction of motion to the +Fy direction in the specified coordinate system.
  -Fy	Sets the direction of motion to the -Fy direction in the specified coordinate system.
  +Fz	Sets the direction of motion to the +Fz direction in the specified coordinate system.
  -Fz	Sets the direction of motion to the -Fz direction in the specified coordinate system.

  Default: +Fz

• PressForce Property
  This property sets the pressing force in the direction of motion specified by the PressOrient property for the force guide object during the execution of the force guide object.

  • If PressOrient is +Fx, +Fy, +Fz:

    	Value (unit: [N])
    Minimum Value	-50
    Maximum value	0

    Default: -10

  • If the PressOrient is -Fx, -Fy, or -Fz:

    	Value (unit: [N])
    Minimum Value	0
    Maximum value	50

    Default: 10

• PressFirmnessF Property
  This property sets the firmness in relation to the force control function in the direction of motion specified by the PressOrient property for the force guide object during the execution of the force guide object.
  The larger the PressFirmnessF value, the stronger the force control function becomes in the direction of motion. This slows response to changes in force, but reduces vibration.
  The smaller the PressFirmnessF value, the weaker the force control function becomes in the direction of motion. This speeds up response to changes in force, but increases vibration.

  	Value
  Minimum Value	0.1
  Maximum value	10

  Default: 3

• AlignEnabled Property
  This property sets whether to execute surface alignment.

  Value	Description
  True	Executes surface alignment.
  False	Does not execute surface alignment.

  Default: True

• AlignOrient Property
  This property sets the translational and rotational following orientation set for paste operations.
  This property is set automatically based on the direction of motion set by the PressOrient property for the force guide object. It cannot be edited.

  Value	Description
  TyTz	Motion following in the TyTz direction.
  TxTz	Motion following in the TxTz direction.
  TxTy	Motion following in the TxTy direction.

  Default: TxTy

• AlignFirmnessT Property
  This property sets the firmness in relation to the force control function for torque in the following direction during the execution of the force guide object.
  The larger the AlignFirmnessT value, the stronger the force control function becomes in the following direction. This slows response to changes in force, but reduces vibration.
  The smaller the AlignFirmnessT value, the weaker the force control function becomes in the following direction. This speeds up response to changes in force, but increases vibration.

  	Value
  Minimum Value	10
  Maximum value	100000

  Default: 1000

• PressCheckTolF Property
  This property sets the tolerance range for the force used as an end condition in the direction of motion specified by the PressOrient property for the force guide object.
  This sets the PressForce± PressCheckTolF range as the end condition.

  	Value
  Minimum Value	0.1
  Maximum value	10

  Default: 1

• AlignCheckTolT Property
  This property sets the tolerance range for the torque used as an end condition in the rotational direction being followed.
  This sets the ± AlignCheckTolT range as the end condition.

  	Value
  Minimum Value	1
  Maximum value	10000

  Default: 100

• HoldTimeThresh Property
  This property sets the duration time until the determination of the end conditions related to force.
  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: 0.1

• ApproachDist Property
  This property sets the moving distance from the start point of the force guide object to the start point of the paste operation.

  	Value (Unit: [mm])
  Minimum Value	0
  Maximum value	50

  Default: 10

• DistCheckTol Property
  Specify the range that is the success condition (when the operation is finished) of the distance moved from the operation start position.
  This sets the ApproachDist ± DistCheckTol range as the success condition.

  	Value
  Minimum Value	0.01
  Maximum value	10

  Default: 1

• Timeout Property
  This property sets the time-out period of the force guide object.
  When the robot does not satisfy the conditions enabled by PressForce, PressCheckTolF, and AlignCheckTolT even the time specified by Timeout has passed, it determines as failure of the Paste object.
  After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.

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

  Default: 10

Details on results of Paste object

• EndStatus Result
  It is a result of the execution.
  It will be succeeded when satisfying "success conditions" described in
  Paste Object .

  Value	Description
  Passed	Force guide object is succeeded.
  Failed	Force guide object is failed.
  NoExec	Force guide object is not executed.
  Aborted	Aborted during the execution of force guide object.

• Time Result
  This is the time required for execution.
  Unit: [sec]

• TimedOut Result
  Shows whether the time-out period set in the Timeout property was reached.

  Value	Description
  True	Reached the time-out period.
  False	End before reaching to the time-out period.

• EndForces Result
  It is force and torque when force guide object ends. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• EndPos Result
  Positions when the force guide object ends. Acquire values of X, Y, Z, U, V, and W.
  Unit: X, Y, Z [mm] / U, V, W [deg]

• AvgForces Result
  Average values of force and torque during the force guide object execution. 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]

• ForceCondOK Result
  Shows whether the end condtions related to force were satisfied.

  Value	Description
  True	Satisfy the end conditions related to force.
  False	The end conditions related to force are not satisfied.

• TriggeredForces Result
  It is the force and torque when satisfying the end conditions related to force. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• TriggeredPos Result
  Positions when satisfying the end conditions related to force. Acquire values of X, Y, Z, U, V, and W.
  Unit: X, Y, Z [mm] / U, V, W [deg]

• PosCondOK Result
  Shows whether the end conditions related to position were satisfied.

  Value	Description
  True	Satisfy the end conditions related to position.
  False	The end conditions related to position are not satisfied.

• PosLimited Result
  Shows whether the limit range related to position was exceeded.

  Value	Description
  True	Exceed the limit range related to position.
  False	The limit range related to position is not exceeded.