ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
5.1. Find Contact Offset
When using Contact Offset capabilities, run this node before the Apply Contact Offset node. This node finds by how much a reference
feature has been offset, and stores this value, which will be used by the Apply Contact Offset node.
1. Go to the Inst allat ion tab > Feat ures > Point .
2. Create a Feature Point, then tap " Set Point" .
Caution
The feature point can be located anywhere, as long as its coordinates remain
within the robot reach at all times.
3. Insert a Find Contact Offset node.
4. Tap Teach t he Touch sequence program.
5. From the " Feature to offset" dropdown list, select the feature point you pre-
viously created. For more information, select the help button.
6. Select Add t ranslat ion or Add orient at ion to determine by how much the fea-
ture has been offset.
7. For more details, see sections Add translation and Add orientation.
Tip
Reduce cycle time by inserting a Find Contact Offset node in the " BeforeStart" section of the robot program, or alternatively,
as a sub-program. This strategy will reduce the frequency at which Find Contact Offset nodes are run in the course of your
robot program.
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