Command Version (Simple Pressing)

The following describes how to perform a simple pressing by commands.
The pressing operation in this tutorial is that the robot's end effector tip moves to the positive direction of the Tool 0 coordinate system (TLZ), and presses an object for about 10 seconds with applying 20 [N].
The object to be pressed is fixed to a base table and the pressed surface is assumed to a flat metal block.
If the operation is performed with the end effector, ensure that the end effector can withstand a load: 20 [N] in the negative direction of TLZ.

CAUTION

---

The parameters described in the example on the following pages are reference values.

This tutorial uses relatively stable parameters, but depending on the operating environment, the operation may not be successful or the motion may be vibratory. Note that adjusting the parameters may be required. note that

Slow, stable parameters are used for convenience of explanation. For high-speed operation, adjusting the parameters is required.