Property Setting

The following describes how to set the required properties for the "Peg In Hole".

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. Select the [PegInHole] sequence. Properties and Results are displayed.
   Change the following properties:

   Item	Value	Description
   RobotTool	2	Select Tool 2

3. Click Epson RC+ menu-[File]-[Save File]. Settings are saved.

4. Select the object flow of [Contact01] to display the properties.
   Change the following properties:

   Item	Value	Description
   Contact - Orient *1	+Fz	Set a direction to contact. The robot moves to +Fz direction.
   Contact - FirmnessF	2	Set a firmness of the force control functions.
   Force End Condition - ContactForceThresh	-5	Set -5N to a threshold to determine a contact. Set this to a tolerable value considering the workpiece in use.
   Timeout	10	Set a time-out period of a contact motion. When 10 seconds have passed until the robot contacts, it fails.

   *1 [Reference]

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

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

6. Select the object flow of [PressProbe01] to display the properties.
   Change the following properties:

   Item		Value	Description
   ProbeTrajectory		Spiral	Set a trajectory to probe. Set Spiral trajectory.
   ProbeDetectType		Hole	Set a target to be detected . Set Hole.
   AccelS		100	Set the translational acceleration of the movement. Actual translational acceleration is adjusted by the force control functions. You need to set a large enough value such as ten times larger than SpeedS
   SpeedS		10	Set the translational velocity of the movement. Actual translational velocity is adjusted by the force control functions. Set a value of about 10 mm/s.
   SpiralDiam		30	Set a diameter of the spiral trajectory. Set this to 30mm.
   SpiralPitch		3	Set the pitch of the spiral trajectory . Rotate around the center for ten times. Set this to 3mm.
   Press *1	Orient	+Fz	Direction to press. Set a vertical direction to a probe plane. *
   	Force	-3	Set the pressing force. When PressOrient is a positive direction: Enter a negative value. When PressOrient is a negative direction: Enter a positive value. Normally, a value of approximately 3 to 5N is set. However, set a value that is proper for your workpiece. If the value is too small, the robot may move away from the probe plane.
   	FirmnessF	1	Set a firmness of the force control functions in pressing direction.
   PosEnd	PosCheckEnabled	True	Set whether to enable the end conditions related to positions.
   Conditions *2	PosCheckType	Relative Plane	Select types of the end conditions related to positions. Every time the force guide sequence is executed, create Plane at a relative position from the current position and set as an end condition of position.
   	PlaneNumber	3	Overwrite the Plane number 3 for end condition of positions.
   	PlaneRelativeOrg	Tool	Indicate an offset amount to the origin of Plane based on the Tool coordinate system direction.
   	PlaneRelativeZ	0.5	Set 0.5 mm to the Fz direction in the Tool coordinate system as an offset amount from the current position to the origin of Plane.
   	PlaneRelativeOrient	Tool	Set a Plane direction
   	PlaneAxes	XY	Create a Plane inside the XY plane in the Tool coordinate system.

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

8. Select the object flow of [Press01] to display the properties.
   Change the following properties:

   	Item	Value	Description
   Fx	ControlMode	Follow	Perform the follow motion by the force control functions.
   	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 *1	ControlMode	Press+	Mode of force control function. Press+: The robot moves in the positive direction of the Fz axis and presses.
   	Force	-10	Set an applied force when inserting. Set this to 10N.
   	Firmness	2	Set a firmness of the force control functions in Z direction.
   PosEnd Condition2 *2	PosCheckEnabled	True	Enable the end conditions related to position.
   	PosCheckType	Relative Plane	Types of the end conditions related to positions. Every time the force guide sequence is executed, create Plane at a relative position from the current position and set as an end condition of position.
   	PlaneNumber	3	Set Plane3 to the end condition of positions.
   	PlaneRelativeOrg	Tool	Indicate an offset amount to the origin of Plane based on the Tool coordinate system direction.
   	PlaneRelativeZ	10	Set an offset amount in Z direction from the current position to the origin of Plane. Direction will be the Tool coordinate system direction specified by PlaneRelativeOrg.
   	PlaneRelativeOrient	Tool	Set a coordinate system based on the Plane direction to the Tool coordinate system.
   	PlaneAxes	XY	Set XY plane as the plane direction.
   TimeOut		20	Set the time-out duration. Fails when the end condition (move 10mm) is not satisfied within 20 seconds.

9. Click Epson RC+ menu-[File]-[Save File]. Modified properties are saved to the project.
   *2 [Reference] Positional relationship with Plane
   The positional relationship of the robot's current position and Plane is as shown below. If the robot's current position is in the +Z direction area from the Plane origin, it will be "Inside".

   	Outside	Inside
   Positional relationship with Plane 6-axis robot
   Determined value of Plane (GetRobotInsidePlane)	0 = Outside	1 = Inside