5
Insert instruction textbox: Checkbox that inserts the corresponding stop condition in the robot program when ticked; its main func-
tion is to facilitate the programming and improve the user experience
6
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
7
Insert instruction textbox: Checkbox that inserts the corresponding stop condition in the robot program when ticked; its main func-
tion is to facilitate the programming and improve the user experience
8
Force threshold (Stop condition): Textbox for the user to enter a force threshold value that completes the linear motion
Parameter
Unit of measurement
Default value
Direction relative to the tool
N/ A
Z+
Motion speed
mm/ s
5
Maximum distance traveled (Stop condition)
mm
100
Force threshold (Stop condition)
N
10
Fig. 4-26: Find Surface node with stop condition(s)
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