Property Setting
The following describes how to set properties that are necessary to insert connector.
Specifications of USB TypeA connector are as follows:
Insertion force: 35N or less
- 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.
Set in order from the Step 1. - Select the [ContactProbe01] object. Properties and Results are displayed.
- Set the value of the [Contact]-[Orient] property to "-Fx".
- Set other properties as follows.
For more details, refer to the following section.
Software ContactProbe Object
| Item | Value | Description | |
|---|---|---|---|
| ProbeTrajectory | Straight | Set a straight line probe motion. The robot approaches to the plane at a regular interval (set by [Interval]). | |
| AccelS | 200 | Set the translational acceleration of the movement. | |
| SpeedS | 50 | Set the translational velocity of the movement. Velocity for depart motion or translation. | |
| Destination | DestRelativeX | 0 | Set a relative movement amount to each direction from the start point to the destination point. The robot does not shift to X direction. |
| DestRelativeY | -3 | The robot moves up to 3mm in the -Y direction and probes. | |
| DestRelativeZ | 0 | The robot does not shift to Z direction. | |
| Contact | ContactInterval | 0.5 | Set an interval of the contact motions. Set to 0.5mm. |
| Orient | -Fx | Set a direction to contact. The robot moves to the specified direction. | |
| Dist | 3 | Set a distance from the start point to the target contact point. | |
| DistMargin | 0.5 | Set a margin distance from the start point to the target contact point. Set to 0.5mm for one side. | |
| FirmnessF | 2 | Set a firmness of the force control functions. ContactProbe object affects to the contact speed. Reference value of the contact speed can be calculated by the following: [ContactForceThresh] / [ContactFirmnessF] | |
| ForceEnd Conditions | Contact ForceThresh | 3 | Set a threshold to determine a contact. Set 3[N]. When a force of 3N or more is detected outside the expected contact range set by [ContactDist], the robot determines that the probe motion has failed, shifts 0.5mm in the -Y direction, and approaches again in a similar manner. |
| PosEnd Conditions | PosCheckType | Relative Plane | Select the types of the end conditions related to positions . Set a Plane with a condition that the robot moves a relative amount from the start position. It is automatically generated by [ContactDist] +[ContactDistMargin]. |
| PlaneNumber | 1 | Set Plane number which is used for an end condition of positions. Overwrite Plane 1. | |
| PlaneEndCond | Inside | Being inside of the Plane is an end condition. When the robot moved to the specified state, determined as the end condition is satisfied. | |
| Timeout | 30 | Set a time-out period of a contact motion. Maximum time-out period is 30 seconds. | |
- Click Epson RC+ menu-[File]-[Save File]. Settings are saved.
- Set the properties of the [Press01] object as follows:
Item | Value | Description | |
|---|---|---|---|
| Fx | ControlMode | Press- | Mode of force control function. Press : The robot moves along the axis in the negative direction and presses. |
| PressForce | 20 | Applied force when inserting. Set to 20N. | |
| Firmness | 2 | Set a firmness of the force control functions in X direction. | |
| Fy | ControlMode | Follow | Perform the follow motion by the force control functions. |
| Firmness | 2 | Set a firmness of the force control functions in Y direction. | |
| Fz | ControlMode | Follow | Perform the follow motion by the force control functions. |
| Firmness | 2 | Set a firmness of the force control functions in Z direction. | |
| ForceEnd Conditions | ForceCheckEnabled | True | Enable the end conditions related to force. |
| ForceCheckMode | Press | Press: Only the pressing is a target of determination. | |
| ForceCheckPolarity | Inside | Polar of the end conditions related to force. Being inside of the specified range is an end condition. | |
| PressCheckTolF | 10 | Range of the pressing direction of the end conditions related to force. Set a range of the end conditions. X axis: the force value remains inside the 20 ± 10N range | |
| FollowCheckTolF | 1 | Y, Z axes: the force value remains inside the 0 ± 1 N range | |
| HoldTimeThresh | 0.1 | Set the duration time which is used to determine whether the end conditions have satisfied. Set 0.1 seconds. | |
| Timeout | 2 | If the end condition has not satisfied for more than 2 seconds (e.g. no workpiece is existed), ends as a failure. | |
- Click Epson RC+ menu-[File]-[Save File]. Modified properties are saved to the project.