Property Setting

The following describes how to set the required properties for pressing operations.
Values are as follows:

Threshold to end a contact object	4 [N]
Pressing force	4 [N]
Pressing time	1.0 [s]

1. The mark is displayed on the flow chart by default. You need to set properties.
   
   Move the mouse pointer onto the mark to display the tool tips. The tool tips show settings or content which need to be modified.
   

2. Click the [Contact01] object in the flow chart. Properties and Results are displayed.
   

3. Confirm that the value of the [Contact]-[Orient] property is "+Fz".
   Contacting direction is the same as "+Fz" direction of tool setting. It is set as "downward pressing" of 6-axis robot. At this time, only a negative (-) value can be entered to value of [ContactForceThresh] property.

   "Pressing" direction is set depending on the direction of the tool setting. In 6-axis and SCARA robots, when the mounting type is standard (floor mounting), tool settings for the sensor top plate will be opposite. Set as shown below.

Reference

	6-axis robot	SCARA robot
Robot motion image Pressing
(Press/Contact) Orient	+Fz	-Fz
Sign of Force (monitor display is included)	-	+

4. Change the [Contact01] object's properties.
   You do not need to change items that are not shown in the following list. Click on each item to display its property overview or setting range in the Quick Help column in the bottom right.
   For details on the setting items, refer to the following section:
   Software Contact Object

Item	Value	Description
ContactOrient	+Fz	Set a direction to contact. The robot moves to the specified direction.
ContactFirmnessF	2	Set a firmness of the force control functions.
		When setting a large value: The Force Control functions become stronger, but response to changes in force is slow.
		When setting a small value: The Force Control function will become weaker. Response to changes in force is fast; however, vibrations can easily occur.
		When setting a small absolute value: Movement speed of the contact motion will be fast.
		Set a limit of speed advancement without damaging the workpiece or robot by yourself.
Force End Conditions - ContactForceThresh	-4	Threshold to decide a contacting force. Absolute value of the force in the Fz direction exceeds that of ContactForceThresh in the specified time of Timeout. Approach speed to an object affects the force when the robot contacts with the object completely. Be sure to consider the possibility that the payload is applied to the workpiece or robot due to overshoot.
Timeout	10	If the end condition has not satisfied in 10 seconds, an error occurs. It can prevent an unintended motion such as a target of contact detection is far or a motion with improper setting.

5. Click the [Press01] object in the flow chart.
   Properties are displayed.
   

6. Change the [Press01] object's properties. You do not need to change items that are not shown in the following list. Click on each item to display its property overview or setting range in the Quick Help column in the bottom right.

Item	Value	Description
FzControlMode	Press+	Mode of the force control functions to Fz direction. Press+: The robot moves to a positive direction of each axis and presses.
Fz - Force	-4	Set a pressing force . (negative value) For fittings or assembly tasts, the force is usually set from 3 to 5[N] or from -3 to -5[N] in Fx, Fy, and Fz. However, a proper value differs depending on tasks or workpiece.
Fz - Firmness	2	Set a firmness of the force control functions in Fz direction.
		When setting a large value: The Force Control functions become stronger, but response to changes in force is slow.
		When setting a small value: The Force Control function will become weaker. Response to changes in force is fast; however, vibrations can easily occur.
Timeout	1	Set the time-out duration. It is not the duration after the force reaches the [PressForce] but duration for the pressing force control.

7. Click Epson RC+ menu-[File]-[Save File]. Modified properties are saved to the project.