ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
5.4. Find Surface
Force Copilot includes the Find Surfacenode, which is a great tool for machine tending and various other applications that require
repeated, accurate positioning of objects.
The default parameters of the function allow for a versatile demo or a quick test of the features while the advanced parameters make it
a more customizable asset.
5.4.1. Adding a Find Surface Node
1. On the Teach Pendant, tap New to create a program or the Open button to load a program
2. Tap the URCaps button in the left navigation pane.
3. Tap Find Surf ace.
4. Tap the Find Surf ace node in the robot program to edit it.
1
Direction relative to the tool dropdown menu: Menu used to select the direction of the linear motion, relative to the tool
2
Zero Sensor Before Execution box: Box that inserts a Zero FT Sensor command right before the Find Surface instructions
3
Advanced parameters box: Box that expands the advanced parameters menu when ticked
4
Motion speed parameter: Textbox for the user to enter a speed value for the approach motion towards the destination
5
Maximum distance traveled (Stop condition): Textbox for the user to enter the maximum distance value which, upon being
reached, means the force threshold has never been reached in the linear motion
6
Insert instruction textbox: Checkbox that inserts the corresponding stop condition in the robot program when ticked; its main
function is to facilitate the programming and improve the user experience
7
Force threshold (Stop condition): Textbox for the user to enter a force threshold value that completes the linear motion
8
Insert instruction textbox: Checkbox that inserts the corresponding stop condition in the robot program when ticked; its main
function is to facilitate the programming and improve the user experience
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