Relax Object

Relax object moves the robot to a position where the force to the specified direction will be "0".

Use for tasks such as releasing the safe press status after pressing has been performed by a Press object, or removing extra force that was applied during assembly. Also, by combining with the hand motions, this object can follow and grasp. Even if the workpiece dimension or the grasp positions of the workpiece have a margin of error, the robot can grasp the workpiece stably without applying extra force.

The above figure is the image of a motion by the Relax object. The robot moves from the red arrow state (the robot presses after contacting with an object) to the white arrow direction so that the applied force will be "0".
The Relax object will be succeeded when the end conditions are satisfied within the specified time. The Relax object can use the end conditions related to force and I/O.

Each end condition sets whether to use in ForceCheckEnabled or IOCheckEnabled. If no end condition is set, the object will always be succeeded. When more than one end conditions are set, you can select how to combine the end conditions from AND or OR in EndCheckOperator.
Each condition is as follows:

End condition	Success condition
End conditions related to force	Within the specified time of Timeout, keep all of the following satisfied for the time specified by HoldTimeThresh.
	The axis, which is specified Follow by ControlMode for Fx, Fy, and Fz: Should be within the range of -FollowCheckTolF to +FollowCheckTolF
	The axis, which is specified by Follow by ControlMode for Tx, Ty, and Tz: Should be within the range of -FollowCheckTolT to +FollowCheckTolT
End conditions related to I/O	Input bit specified by IOCheckInputBit should be the state specified by IOCheckInputStatus in the time specified by Timeout.