TensileTest Object

The TensileTest object is an object used to hold the state with applied the specified amount of force in the specified direction.

The diagram above provides a visual representation of a TensileTest object. As the yellow arrow indicates, the object holds the state to apply a constant force in the direction opposite to the insert direction inserted by the Insert object.

The TensileTest object succeeds or fails when the end conditions are met within the specified time. The TensileTest object can apply end conditions related to force and position.

Each end condition is always applied.
When all the success conditions for each end condition are met: The TensileTest object execution ends. The execution is determined as succeeded and proceed to the next force guide object.
When at least one of the failure conditions for each end condition is met: The TensileTest object execution ends. The execution is determined as failed and abort the force guide sequence.

End condition	Success condition
End conditions related to force	During the specified Timeout period, keep all of the following conditions satisfied for the length of the HoldTimeThresh period: In Fx, Fy, and Fz, the force for axis specified by InsertOrient is inside the range of TestForce - TestTolF to TestForce + TestTolF.
End conditions related to position	Satisfy the following within the specified time of Timeout. The moving distance from the force guide object start point in the direction opposite to the axis specified by InsertOrient does not exceed Clearance.

End condition	Failure condition
End conditions related to position	Satisfy the following within the specified time of Timeout. The moving distance from the force guide object start point in the direction opposite to the axis specified by InsertOrient exceeds Clearance.

Property guidelines for the TensileTest object

Step 1. Set basic information
Set properties (Name, Description, Enabled, StepID, AbortSeqOnFail) related to the basic information.

Properties	Description, setting guide
Name	This property sets names of force guide objects. Set a particular name.
Description	This property sets descriptions about force guide objects. Describe the operations. Set a character string.
Enabled	Set whether to execute the force guide object.
	True : Normal
	False : When you do not execute the force guide object (e.g., when you execute another force guide object instead).
StepID	StepID during the force guide object execution. Set an ID. StepID is an ID which is recorded in the log data. It helps you to understand which log data support a process. It is applied when AutoStepID of the force guide sequence is False.
AbortSeqOnFail	Set whether to abort or continue the force guide sequence when the force guide object fails.
	True : Normal End a force guide sequence.
	False : Cases where the force guide sequence contains recovery operations in case of failure; cases where the sequence will be able to continue even in the event of a failure.

Step 2. Set force control functions
Set properties (TestForce) related to the force control functions.

Properties	Description, setting guide
TestForce	Set a force to test in the tensile test direction. When InsertOrient is positive direction: Enter a negative value. When InsertOrient is negative direction: Enter a positive value. Set a proper value for your workpiece. If the value is too large, the inserted workpiece may come off. If the value is too small, the robot may not operate.

Step 3. Set basic information for end conditions
Set property (Timeout) related to time-out.

Properties	Description, setting guide
Timeout	Set the time-out duration.
	When the end conditions are not set: Time-out period is the execution time.
	When the end conditions are set: Fails when the end conditions are not satisfied within the specified time.

Step 4. Set end conditions related to force

Properties	Description, setting guide
TestTolF	Range of the tensile test direction of the end conditions related to force. Set a range of the end conditions. TestTolF is applied for Fx, Fy, and Fz. It monitors that the force of directions specified by InsertOrient of Fx, Fy, and Fz are within the range of TestForce -TestTolF to TestForce + TestTolF. The following is an image of TestTolF.
HoldTimeThresh	Set the duration time which is used to determine whether the end conditions have satisfied. As shown below, if the specified condition continues for the time specified by HoldTimeThresh, it is determined as the end conditions are satisfied. Normally, set to a short time close to "0". We recommend setting the time according to the actual result.

Step 5. Set end conditions about position
Set properties (Clearance) related to the end conditions of the positions.

Properties	Description, setting guide
Clearance	This property sets the tensile test direction range of the end conditions related to position. It monitors that the moving distance from the operation start point in the direction opposite to the direction specified by InsertOrient does not exceed Clearance. The following is an image of Clearance.

Details on the properties of the TensileTest object

• Name Property
  This property sets a particular name that is assigned to force guide object.
  When creating the Insert sequence, name is assigned automatically. Automatically assigned name is added a number after TensileTest (e.g. TensileTest01).
  You can change the name. Set up 16 characters at the maximum. Please use alphanumeric characters and underscores [_]. Note: The initial character cannot be a numeric character.

• Description Property
  This property sets descriptions about force guide objects.
  You can set the character string up to 255 characters.

• Enabled Property
  This property sets whether to execute force guide objects.

  Value	Description
  True	Executes a force guide object.
  False	Does not execute a force guide object.

  Default: True

• StepID Property
  This property sets StepID during the execution of the force guide objects. It is only used when AutoStepID is False.

  	Value
  Minimum Value	0
  Maximum value	32767

  Default: Automatically set according to the numbers of the force guide sequence and the force guide object.

• AbortSeqOnFail Property
  This property sets operations when force guide object fails.
  When True is specified: If the force guide object fails, the program ends the force guide sequence and proceeds to the next SPEL statement.
  When specifying False: If force guide object fails, the program proceeds to the next force guide object without ending the force guide sequence.
  Use this property when you want to continue the force guide sequence (e.g. the recovery processes are included in the force guide sequence when the force guide object fails.)

  Value	Description
  True	Abort the force guide sequence when the force guide object fails.
  False	Start the next force guide sequence when the force guide object fails.

  Default: True

• TestForce Property
  This property sets the tensile force during the force guide object operation in the direction opposite to the operation specified by InsertOrient of the Insert object.

  • InsertOrient is +Fx, +Fy, and +Fz:

    	Value (unit: [N])
    Minimum Value	0
    Maximum value	50

    Default: 5

  • If the InsertOrient is -Fx, -Fy, -Fz:

    	Value (unit: [N])
    Minimum Value	-50
    Maximum value	0

    Default: -5

• TestTolF Property
  This property sets the tolerance of the force to be the end condition of the tensile force specified by TestForce of the force guide object.
  The end condition is the range of TestForce - TestTolF to TestForce + TestTolF

  	Value
  Minimum Value	0.1
  Maximum value	10

  Default: 1

• Clearance Property
  This property sets the success condition of the moving distance from the start point of the force guide object operation to the end point of the operation. It meets the success condition if the moving distance is shorter than the specified distance.

  	Value
  Minimum Value	0.01
  Maximum value	10

  Default: 1

• HoldTimeThresh Property
  This property sets the duration time until the determination of the end conditions related to force.
  When the specified condition continues for the time specified by HoldTimeThresh, it is determined as the end conditions are satisfied.

  	Value (unit: [sec])
  Minimum Value	0
  Maximum value	10

  Default: 0.1

• Timeout Property
  This property sets the time-out period of the force guide object.
  When the robot does not satisfy the conditions enabled by TestForce, and TestTolF even the time specified by Timeout has passed, it determines as failure of the TensileTest object.
  After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.

  	Value (unit: [sec])
  Minimum Value	0.1
  Maximum value	60

  Default: 5

Details on the results of the TensileTest object

• EndStatus Result
  It is a result of the execution.
  It succeeds when the "success conditions" described in 4.2.2.2 Relax Object are satisfied.
  Insert Object

  Value	Description
  Passed	Force guide object is succeeded.
  Failed	Force guide object is failed.
  NoExec	Force guide object is not executed.
  Aborted	Aborted during the execution of force guide object.

Time Result
This is the time required for execution.
Unit: [sec]

• TimedOut Result
  Shows whether the time-out period set in the Timeout property was reached.

  Value	Description
  True	Reached the time-out period.
  False	End before reaching to the time-out period.

• EndForces Result
  It is force and torque when force guide object ends. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• EndPos Result
  Positions when the force guide object ends. Acquire values of X, Y, Z, U, V, and W.
  Unit: X, Y, Z [mm] / U, V, W [deg]

• AvgForces Result
  Average values of force and torque during the force guide object execution. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• PeakForces Result
  Peak values of force and torque during the force guide object execution. The peak value is a value which absolute value is the largest. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• ForceCondOK Result
  Shows whether the end condtions related to force were satisfied.

  Value	Description
  True	Satisfy the end conditions related to force.
  False	The end conditions related to force are not satisfied.

• TriggeredForces Result
  It is the force and torque when satisfying the end conditions related to force. Acquire values of Fx, Fy, Fz, Tx, Ty, and Tz.
  Unit: Fx, Fy, Fz [N] / Tx, Ty, Tz [N・mm]

• TriggeredPos Result
  Positions when satisfying the end conditions related to force. Acquire values of X, Y, Z, U, V, and W.
  Unit: X, Y, Z [mm] / U, V, W [deg]

• PosLimited Result
  Shows whether the limit range related to position was exceeded.

  Value	Description
  True	Exceed the limit range related to position.
  False	The limit range related to position is not exceeded.