Paste Sequence and Object

The Paste sequence specifies the robot's direction and force, and performs a press action. When it presses, it can also perform the follow motion to align with the surface to be pressed. It is used for pasting the gripped workpiece to the surface of another workpiece.

The Paste sequence is composed of Paste objects. General force guide objects can also be added depending on the work procedure.

The diagram above provides a visual representation of a Paste sequence. Executed from a non-contact state, this sequence moves the robot in the pressing direction depicted by the white arrow. From the point of contact, the robot continues to apply a set amount of force in the direction shown by the yellow arrow. The motion procedure up to this point is executed by a Paste object.

This chapter covers the sequence wizards and properties of Paste sequence, Paste objects, and describes how to configure them. For more information about general force guide objects, see the next section.
Software General force guide object