Advanced Tasks

Let's do the following advanced tasks.

1. When you perform a probe motion, task takes longer to do, since time for the probe motion is added.
   If you can omit the probe motion, task time can be shortened.
   Follow the steps below to try.

   1. Change the position of task start position (taught point: PegInHoleStart) to the inside of the taper (C plane).
   2. Right-click [Step 2: PressProbe] and select [Delete].
   3. Refer to the following and execute the force control function.
      Software Motion by Force Guidance Function

2. It takes a long time to perform jog motion for a distance of tens of millimeters, as in "Software Return to the Non-Contact State ."
   Let's try a method to pull the stick out using the force control function right after the Peg In Hole task. At this time, make sure not to reset the Force Sensor by clicking [Sequences]-[Property].

CAUTION

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When about five minutes have passed after Peg In Hole task, the robot cannot detect a proper value and fails to pull the stick out due to the drift characteristics of Force Sensor. At this time, a large force will be applied to the workpiece and it may result in damage to workpiece. Be sure to pull the stick out right after the force guide sequence is executed.

If you reset the Force Sensor in the contact state, the force and value at that time will be "0". In this state, the force control function cannot be performed properly and the robot may fail to pull the stick out or the workpiece may get damage. Be sure to set the [ResetSensor] property to "False". Also, when you want to reset the Force Sensor (e.g. click the [Reset Sensor] button or reboot the Controller), move the robot by using the jog motion without performing the force control function and set to the non-insertion state / the non-grasped state.

1. Create another empty force guide sequence which is different from [PegInHole].
   Example: PullFromHole
2. Add a Press object only and set the properties.
   For 6-axis robot, refer to the following settings and adjust the properties such as [Firmness].
   • Set the "Press- " direction in [Fz_ControlMode]
   • Set "Follow" in [Fx_ControlMode], [Fy_ControlMode]
   • Set a force of less than 10 N in [Fz_ControlMode]
     If the force is too great, the robot may get caught in the hole.)
   • Set a large value in [Timeout] such as 60 sec.
     (Robot keeps moving even when the "pulling" task is performed. Click the [Abort] button to stop the robot.)
   • Set [Fx_Firmness], [Fy_Firmness], and [Fz_Firmness] to the same object as [Press01] of [PegInHole].
3. Click the sequence flow in the flowchart.
4. Set the [ResetSensor] property to "False".
5. Refer to the following and execute the force control function.
   Motion by Force Guidance Function

Now, tutorial for "Peg In Hole" is completed.