Advanced Tasks

Let's do the following advanced tasks.

1. First of all, set the pressing force to 1 [N] for 3 seconds. Next, execute a continuous motion that increases the force to 10 [N] over another 3 seconds. Tip: You need to add objects. Three objects in total are required.

2. Set the properties of the force guide sequence as follows, and record the log. In default setting, it is recorded in the same folder as the projects under development in csv format. Open the file in spreadsheet software and create a graph.

	Item	Value	Description
Log	RobotLocal	Base	For the positional orientation of the robot that is recorded during the force guide sequence execution, set a reference local coordinate system number.
			Set Base coordinate system to record the robot positions.
	FileEnabled	True	Set whether to save in a file.
			Enable the log creation.
	FileAutoName	True	Set whether to automatically set a file name to be recorded.
	Interval	0.05	Set a sampling period for the files to be recorded.
			Set the recording interval to 0.05 seconds.

3. Set Follow in the X and Y axis directions, and make sure to perform "pressing" in the Z direction only. Tip: X and Y axis perform a follow motion by selecting "Follow".
   By setting the tool setting to the center of the contact position, you can assume a tilt of a contact plane or a contact position by torque, or perform the follow motion along the plane.
   

   1. When only the Force Sensor is installed on a C4 series Manipulator, the center thickness of the contact position is 49mm.
      Set Tool 1 and select it.
      Execute the following by command window.

   > TLSet 1, XY(0, 0, 49, 0, 0, 0)
   > Tool 1
   

   2. Click the Force Guide window's [Run] button. The following error occurs.
      The following error occurs.
      

   3. Display the properties of the [Press] sequence.
      Select "1" in [RobotTool].
      
      If tool settings are not configured properly, the robot's motions may not be carried out properly, and the end effector or workpiece may get damaged. This error occurs to prevent these problems.

   4. Since the tool setting was changed, the actual arm joint angle of the robot is different even though the same point data was used.
      Refer to the following to re-teach the teaching positions.
      Software Position Teaching

   5. Different torque values corresponding to "Tool 0" and "Tool 1" are detected.
      (See the following figure). Translational force value is the same.
      
      Torque is calculated by multiplying the force by the distance from the contact position, as viewed from the origin of the force coordinate system (normally, this matches the Tool coordinate system). As shown below, waveforms of translational force are the same. However, waveforms of torque differ depending on the distance from the contact position, and "Tool 0" can measure larger values.

Tool 0	Tool 1

Now, tutorial for pressing to vertical-downward has completed.