Adjustment Guidelines for the HeightInspect Sequence and Object Property Values

The following section describes how to adjust when using HeightInspect sequence and objects.

• If GeneralObjectFailed appears as the FailedStatus result:
  A failure has occurred with a general object placed in the HeightInspect sequence. The last executed object appears in the LastExecObject result. Adjust the property of the object that appears here by referring to the property setting guideline or adjustment guideline for the property.

• If ContactFailed appears as the FailedStatus result:
  Decrease the Firmness value of the height inspection direction.
  However, the robot motion may be easy to vibrate. Please perform proper adjustments for your operations.
  To adjust the Firmness, we recommend changing the value gradually (e.g. decrease the value by 10% from its current state).
  If the robot still bounces, increase the value of Timeout.

• If PosConditionFailed appears as the FailedStatus result:
  A failure has occurred because the position did not meet the position success condition set by the object during HeightInspect object execution.
  Conform the set DistExpected, DistExpectedTol, or PosExpected, PosExpectedTol with the specifications of the actual environment and workpiece.

• If Overrun appears as the FailedStatus result:
  Even though the position exceeded the position success condition range set by the object during HeightInspect object execution, a position overrun was detected and a failure has occurred because the motion executed without enough force to satisfy the force success condition.
  Conform the set DistExpected or PosExpected with the specifications of the actual environment and workpiece.

• When the contacting force is large:
  Decrease the value of ContactForceThresh. Or, increase the value of ContactFirmnessF.
  However, the movement speed will be slow. Please perform proper adjustments for your operations.

• When the force guide object ends before contacting:
  If the execution time is short, increase Timeout value.

• When incorrectly determining as "contacted" before contacting:
  Contact object determines incorrectly due to the inertia force or noise when moving.
  Increase the value of ContactForceThresh. However, force when contacting will be large. Please perform proper adjustments for your operations.
  Or, increase the value of ContactFirmnessF. However, the movement speed will be slow. Please perform proper adjustments for your operations.

• When the movement speed until the robot contacts is slow:
  Increase the value of ContactForceThresh. Or, decrease the value of ContactFirmnessF.
  However, force when contacting will be large, or vibrations may be generated. Please perform proper adjustments for your operations.

• When it takes time to contact:
  If the start position of the force guide object is far from a contact position, it takes time since moving distance in long. Change the start position to a position where is as close as possible to the position to be contacted, but where does not contact with the position.

• When the robot does not move to the contacting direction or move to an opposite direction:
  The Force Sensor may not be reset properly. Check the ResetSensor setting of the force guide sequence.
  When starting the force guide sequence, the object may start with the contact state. Be sure to start from the non-contact state.
  The absolute values of ContactForceThresh may be small. Increase the absolute value. However, force when contacting will be large. Please perform proper adjustments for your operations.