Adjustment Guidelines for the Insert Sequence and Object Property Values

The following section describes how to adjust when using Insert sequence and objects.

• If GeneralObjectFailed appears as the FailedStatus result:
  A failure has occurred with a general object placed in the Insert sequence. The last executed object appears in the LastExecObject result. Adjust the property of the object that appears here by referring to the property setting guideline or adjustment guideline for the property.

• If ForceConditionFailed appears as the FailedStatus result:
  A failure has occurred because the force did not meet the force success condition set by the object during sequence execution.

• If an Insert object appears in the LastExecObject result:
  Reduce the Firmness value in the direction of insertion, or the following direction.
  However, the robot motion may be easy to vibrate. Please perform proper adjustments for your operations.
  For example, try reducing the Firmness value by 10% from its current value, and then gradually adjusting this in stages.

• If a TensileTest object appears in the LastExexObject result:
  Reduce the InsertFirmnessF property for the Insert object.
  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).

• If PosConditionFailed appears as the FailedStatus result:
  A failure has occurred because the position did not meet the position success condition set by the object during TensileTest object execution.

  The operation may have failed after the Insert object was executed. Execute the force guide sequence in step execution and check whether the insert operation is performed successfully when the Insert object ends.

  If successful, check the TestForce and Clearance with the specifications of the workpiece. If the TestForce is too large, the workpiece might come out even if the insert operation is successful. If the Clearance is too small, the TensileTest object will fail for not meeting the position success condition.

• If Overrun appears as the FailedStatus result:
  Even though the position exceeded the position success condition range set by the object during Insert object execution, a position overrun was detected and a failure has occurred because the motion executed without enough force to satisfy the force success condition.
  Check that the ApproachDist and InsertDepth values are not too small compared to the actual operating environment.

• If Jammed appears as the FailedStatus result:
  A jamming failure has occurred because the position did not meet the position success condition at the point when the force satisfied the force success condition set by the object during Insert object execution.

  The workpiece may be at too much of a tilt toward the hole. Check the orientation of the workpiece at the start point of the motion, and redo the teaching process.

  If the teaching is correct, check that the ApproachDist and InsertDepth values are not too large compared to the actual operating environment.

• 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 insertion 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 insertion direction:
  Confirm that InsertOrient is set in the direction to insert.
  If it is set in the direction to insert, check if InsertForce is set to "0".

• When the robot moves in the reverse direction:
  Confirm that InsertOrient is not set in the opposite direction.
  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.