General force guide object
The following 10 general force guide objects are available.
Category | Object name | Description |
|---|---|---|
| Contact | Contact | Move the robot to the specified direction and stop it when contacting with the object. |
| Follow | Relax | Adjust the position of the robot so that the applied force and torque to the specified axis will be "0". |
| FollowMove | While moving the specified trajectory, adjust the position of the robot so that the applied force and torque to the specified axis will be "0". | |
| Align | SurfaceAlign | Align a surface of the grasped workpiece with that of the object. |
| Probe | PressProbe | Detect a hole or a step on the object while pressing the grasped workpiece. |
| ContactProbe | Detect a hole on the object while contacting the grasped workpiece. | |
| Press | Press | Press to the specified axis direction. |
| PressMove | Press to the specified axis direction while moving the specified trajectory. | |
| Execution | Decision | Processing branches off depending on the success or failure of the object. |
| SPELFunc | Execute a function of the specified SPEL program. |
This chapter describes types and properties of each general force guide object, and how to set or adjust the properties.
For more details on the settings of the force guide objects, refer to the following section.
Software Set force guide object(s)