Robotiq Finishing Kits- Instruction Manual
4.6. Apply Contact Offset node
Insert an Apply Contact Offset node, then select a feature to offset. This feature must be the same as the one used by the Find
Contact Offset node your previously executed.
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When you select a feature point to offset and a green check mark is shown, this means that moves will be executed according to
the offset value of the Apply Contact Offset node.
In order to apply the contact offset to a move, in the Move node, select the same Feature as in the Apply Contact Offset node
(e.g. in the case presented above, it would be "Point_1").
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Create your robot program with children nodes inserted under the Apply Contact Offset node.
Tip
Reduce cycle time by inserting a Find Contact Offset node in the "Before_Start" section of the robot program, or as a
sub-program. This strategy will reduce the frequency at which nodes are run in the course of your robot program.
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