Insert Sequence

The following describes how to perform a peg in hole procedure using the Insert sequence of the system force guide sequence.
Prepare a workpiece by yourself. Incorrect settings may result in damage of the workpieces. Prepare workpieces that can be damaged, and proceed with this tutorial.
Workpiece used in the picture is a training kit. If you need a drawing, please contact the supplier of your region.

The specifications are as follows.

• Cylinder on end effector side
  Diameter: 20mm, Length 40mm
• Hole side Diameter
  approx. 20mm, C plane: approx. 7mm
  

If you do not have a workpiece or a tool as shown above, you can try it easily by using a cylindrical wood, cork, and a plastic bottle. However, do not use a workpiece that has risks when it brakes such as a glass. Broken pieces will be scattered and may result in injury. Also, pay attention to surroundings when you proceed this tutorial.

CAUTION

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The parameters described in the example on the following pages are reference values.

This tutorial uses relatively stable parameters, but depending on the operating environment, the operation may not be successful or the motion may be vibratory. Note that adjusting the parameters may be required. note that

Slow, stable parameters are used for convenience of explanation. For high-speed operation, adjusting the parameters is required.