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13.2.3
Sector Offset for Touching Position
Typically an object is first touched. All following
functions then relate to this touching position.
Depending on the size tolerance of the objects, this
touching position differs from object to object.
The touching position can very simply be detected
with „Drive I_Force“ (by using little force). The
command “TPSO” (Take IST
-Position as Sector Offset)
will take this touching position as sector offset for all
functions that follow.
In order to determine the value „Sector I_Force Start“
and „Sector I_Force End“ it is simplest to record the
force curve and to calculate the distance to touching
position (absolute position
–
Sector Offset).
“Sector I_Force Start”, “Sector I_Force End”, “Wait
for Distance greater/less” and “Jump if Distance
greater/less” are distances relative to the touching
position (sector offset).
With „SSO“ Set Sector Offset = 0 the distances
correspond to the absolute positions.
Sector Offset
SIFS(1)
SIFS(2)
JUMP IF DISTANCE LESS
WAIT FOR DIST. GREATER
DIF
Index
Touching Position
