ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Primary icon Description
If select ed, t he pat h is modified t o play at a const ant t ool speed (linear speed at t he t ool cent er
point ). Wit h t his opt ion, all pauses and hesit at ions (dead t imes) in t he pat h will be removed.
If select ed, t he recorded pat h will be played backwards in t he program. It can be useful if a pat h
is copied and played backwards, result ing in a pat h played back and fort h.
If select ed, t he pat h will be played relat ive t o t he current robot posit ion when t he program
ent ers t he pat h inst ruct ion. This effect ively offset s all t he recorded pat h.
Displayed whenever a set t ing result s in a durat ion different t han t he original pat h durat ion.
Note
Buttons which are greyed out cannot be selected.
If you tap when a path is already recorded in a node, you will be prompted to overwrite the path. Tap OK, or keep the previously
recorded path by tapping Cancel.
5.7. Insertion Node
The Force CopilotURCap includes Insertion nodes, which can be used to perform spiral, rotational and linear movements to insert
objects in holes or bores, or to make contact with a surface. It is an essential integration resource for streamlining robot programs in the
framework of precise assembly applications.
When the task is performed by a human operator, the operator's fingers provide valuable feedback through the sense of touch, thus
allowing the human to detect any resistance when trying to insert a pin in a hole, for instance. To a certain extent, Force Copilot gives
that kind of sensitivity to the end-effector.
5.7.1. Adding an Insertion Node
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On the Teach Pendant, tap the New button to create a program or the Open button to load a program.
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Tap the URCaps button in the navigation pane on the left.
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Select Insertion.
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Tap the Insertion node in the robot program to edit it.
Info
The parent Insertion node is automatically followed by a Zero Sensor child node.
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