Teaching a Robot
Teach the start and target point of the distance tracking function.
Move the robot to a position where the laser displacement meter will be within the measurable range.
Set a robot position and orientation within the range and teach as the start point (P1).
When using the distance tracking function for a dispense application, be sure to check that the needle gap at the start point is same as the recommended gap value of the dispenser.
Move the robot to the target point.
Teach a moved point as the target point (P2).
Sometimes the laser displacement meter cannot measure the tilt of workpiece due to workpiece types (especially mirrored object), its tilt angle, and types of the laser displacement meter. In that case, place the bottom of a chassis of the laser displacement meter in parallel with the workpiece surface.
For layout of the distance sensor (laser displacement meter) and target workpiece, follow the specifications of each distance sensor.
Ex: When placing the workpiece and chassis of the laser displacement meter in parallel
For the arc-shaped workpiece as shown above, teach the trajectory of the arc shape by using Move or Arc command before executing the distance tracking function.
