Set a force guide sequence
In the force guidance function, operations to be executed are shown as a "group" of force guide sequences. It is like a container that the required force guide objects are aligned in a specific order to execute the whole or part of the specific operation. Force guide sequences consist of general force guide sequences created by adding any general force guide objects, and system force guide sequences for specific operations.
The following table shows a list of system force guide sequences.
Name | Description |
|---|---|
| Paste | Aligns the surface of the workpiece being gripped with the surface of the target object, and presses in the direction specified. |
| ScrewTighten | Tightens screws using an electric screwdriver. Once tightened, you can also instruct the robot to loosen the screw and retighten. |
| HeightInspect | Stops the robot upon contact with a target object when moving in a specified direction, and measures and inspects the height of the object. |
| Insert | Inserts the workpiece. This can also confirm that an inserted workpiece cannot be removed by applying a force in the direction opposite to the direction of insertion after the insertion of a connector, etc. |
Force guide sequence has properties and results.
- Properties
Value for force guide sequence. Some properties affect to the whole force guide sequence, and other properties are processing settings when executing the force guide sequence. - Result
Value showing the result of the force guide sequence.
Set a force guide sequence by the following steps.
- Step 2-1. Create a force guide sequence
- Step 2-2. Set the properties of the force guide sequence
However, Epson Force Sensor has a characteristic to accumulate errors due to the drift. Therefore, the force control function must be executed within 10 minutes after resetting the Force Sensor. If operating the operation for 10 minutes or more, divide the force guide sequences into two sequences and review the operation to restart the second force guide sequence after changing it to a non-contact state.
Also, the force guide sequence needs adjustment depending on the usage environment (robot, hand, workpiece, or position). When operating the same operation in different position, a single force guide sequence may only operate the either operation. In that case, divide the force guide sequence into two sequences and adjust for each.
Step 2-1. Create a force guide sequence
Create a force guide sequence on the force guide window. To create a force guide sequence, create an empty force guide sequence first. Then, align any force guide objects. Or, specify a template when creating the force guide sequence and automatically align the required force guide objects for an operation. The system force guide sequence is set by the sequence wizard, and the force guide object is automatically placed.
For more details on the creation steps, refer to the following section.
Software [Force Guidance] (Tools Menu)
Step 2-2. Set the properties of the force guide sequence
Set properties of force guide sequence. You need to set properties depending on an operation. You can set the properties of the system force guide sequence in the sequence wizard.
For more details on each property, refer to the following section.
For more details on the setting steps of the properties, refer to the following section.
Software [Force Guidance] (Tools Menu)