ROBOTIQ CNC Machine Tending Kit, Instruction Manual, Page: 74 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Parameter Unit of measurement Default value
Radius increment per t urn mm 0.7
Maximum radius (Error condit ion) mm 5
Table 5-2: Default values and units of measurement.
Rotational Insertion
Table 5-3: Describing options available to the Rotational insertion.
1
Teach position button (Destination): Tapping this button saves the object's destination as a waypoint in the robot program
2
Reference frame dropdown menu (Direction): Menu used to select the frame according to which the tool will move in space
3
Axis dropdown menu (Direction): Menu used to select the direction in which the tool will go to reach the destination
4
Advanced parameters box: Box that expands the advanced parameters menu when ticked
5
Linear speed parameter: Textbox for the user to enter a speed value for the approach motion towards the destination
6
Force initiating rotation parameter: Textbox for the user to enter a force threshold value that triggers the rotation move, after the
part/ tool has established contact with the mating part/ surface
7
Rotation speed parameter: Textbox for the user to enter a speed value for the rotational (indexing) motion
8
Maximum torque parameter: Textbox for the user to enter a torque threshold value used to prevent potential collision with
objects during the rotational motion
9
Enable peck mode box: Box that enables the retraction of the tool between points of contact
10
Maximum rotation angle (Error condition): Textbox for the user to enter the maximum angle of the rotation motion, considering
that no path of least resistance has been found
74