External Tool Finishing Kit - Instruction Manual
Parameter
Unit of measurement
Default value
Force initiating spiral move
N
10
Force initiating insertion
N
3
Radius increment per turn
mm
0.7
Maximum radius (Error condition)
mm
5
Features (Rotational)
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
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