HeightInspect Sequence and Object

The HeightInspect sequence is a function that moves the robot in a specified direction and inspects the contact position with a specified force. It is used for dimensional inspection of workpiece and confirmation of success or failure of assembly.

A HeightInspect sequence is composed of a HeightInspect object. General force guide objects can also be added depending on the work procedure.

The diagram above provides a visual representation of a HeightInspect sequence. Executed from a non-contact state, this sequence moves the robot in the pressing direction depicted by the white arrow. The motion procedure up to this point is executed by a HeightInspect object.

This chapter covers the sequence wizards and properties of force guide HeightInspect sequence and HeightInspect objects. For more information about general force guide objects, see the next section.
Software General force guide object

Key Point

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The function provided by the HeightInspect sequence is not a function that guarantees absolute accuracy like an inspection machine. Accuracy is affected by the position and orientation of the robot performing the operation, a hand and a workpiece, and the gantry on which the robot is installed. Check the repeatability accuracy from the result of executing the sequence multiple times for a normal workpiece, and then apply it to the actual operation.