Using the SPEL+ Language to Create Motions Prior to Starting Force Control Function

Force guidance function creates an operation using force control function. Therefore, a motion without using force control function such as movement to a start position is created by using SPEL+ language.
Here is a simple example:

Function main
  Motor On
  Go P1     'Go to the start position
Fend

Generally, the force control function is operated in low speed compared to a normal robot motion. To shorten a cycle time, we recommend operating minimum necessary tasks by the force guidance function. Therefore, make sure to set a start position where the grasped workpiece or tool does not contact with a workpiece to be contacted. Also, set a start position as close as possible to the workpiece to be contacted. When setting a start position, consider workpiece variations. Avoid setting a start position where cannot be contacted by a certain workpiece but the other workpiece can.

In a case of Peg In Hole task, when all workpieces including variations are within a taper range of a hole, cycle time can be shortened. This is because a process to probe a hole can be omitted. As described, cycle time will be shortened by omitting a process such as a hole/a step probing during an operation.
As a summary of the above descriptions, conditions of an ideal start position are as follows: When operating Peg In Hole task and the robot grasps a cylinder, workpiece is as close as possible to the other workpiece with a hole Position of the workpiece does not contact with the workpiece with a hole. Workpiece is within a taper range of the hole

Key Point

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The force control function cannot be executed near the singular point of the robot. Make sure to set a start position with avoiding near the singular point even during the operation of tasks created by the force guidance.