ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
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Force threshold parameter: Textbox for the user to enter a force threshold value that completes the linear motion
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Maximum travel distance (Error 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
Parameter Unit of measurement Default value
Reference frame (Direct ion) N/ A Tool
Axis (Direct ion) N/ A Z+
Speed mm/ s 5
Force t hreshold N 10
Maximum t ravel dist ance (Error condit ion) mm 100
5.8. Force Control Node
The Force Control node is used to apply force and torque values along and around axes.
5.8.1. Adding a Force Control 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 Force Control
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Tap the Force Control node in the robot program to edit it
Warning
UR Move nodes (MoveL, MoveJ, MoveP) and Force nodes cannot be executed as children of the Robotiq Force Control
node.
Tip
Where a UR Move node would normally be used, the user shall record a Robotiq Path emulating the desired Move.
In a situation where the user wants to make contact with a surface in accordance with the user-defined settings, a Wait
instruction can be inserted as child of the Robotiq Force Control.
The Force Control node is primarily meant to be used with a Robotiq Path node.
With the various user-defined settings available, operators can use a force torque sensor to apply force/ torque and thus follow irregular
shapes and/ or surfaces for applications such as polishing, deburring, finishing, dispensing, etc.
Reference frame
The user can select a reference frame from a dropdown menu, as shown in Fig. 5-17.
The Tool reference frame uses the X, Y and Z axes of the end-effector to apply force and torque values in the appropriate direction.
On the other hand, the Base reference frame takes into consideration the X, Y and Z axes of the robot arm base.
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