Advanced Tasks
Let's do the following advanced tasks.
- If the operation ends due solely to the condition "the condition is satisfied by the force when inserting a connector", the connector may have gotten snagged during insertion, and not been inserted completely.
As a remedy, add a position condition.
Change the [Press01 (Press)] property as shown below and execute it.
Check the difference from the last time. (Refer to: Software: Press Object )
Item | Value | Description |
|---|---|---|
| EndCheckOperator | AND | Set AND as the end conditions related to force, position, and I/O. |
| PosCheckEnabled | True | Enable the end conditions related to position. |
| PosCheckType | Relative Plane | Types of the end conditions related to positions . Make it an end condition that the robot moves a relative amount from the start point. |
| PlaneNumber | 2 | Overwrite Plane number 2 and use as the end condition of positions. |
| PlaneRelativeOrg | Tool | Indicate an offset amount to the origin of Plane based on the Tool coordinate system direction. |
| PlaneRelativeX | -10 | Set an offset amount in each direction from the current position to the origin of Plane . Position is where the robot shifts -10 mm in the X direction based on the Tool coordinates. |
| PlaneRelativeY | 0 | |
| PlaneRelativeZ | 0 | |
| PlaneRelativeOrient | Tool | Set a coordinate system based on the Plane direction . Use the Tool coordinate system. |
| PlaneAxes | YZ | Set the plane direction to be parallel with the YZ plane in the tool coordinates . Normally, set Plane which is perpendicular to the robot motion direction. |
Check the setting of [Plane] by using simulator.
Perform the tool setting in the center of the contact area of a USB connector and execute this tutorial.
The force and torque values measured at this time are displayed based on the tool position.
When the right or left side of the USB connector contacts with the USB port, you can assume a tilt level of the USB connector grasped by the end effector by its positive and negative.Increase motion speed.
The following properties affect to speed.
- Increase the [PressForce]. (However, connector's insertion force is set as specification. Change the force within the range.)
- Reduce [Firmness].
- Increase probe motion such as [SpeedS] or [AccelS] that affects to depart or travel time for moving to other probe positions.
Now, tutorial for "Insert USB connector" is completed.