Using the URCap Plugin
36
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3.3.7
F/T Insert Pin
Command
First position the pin or peg that needs to be inserted to the hole pointing in the
right direction and close to the hole entrance. The finial position and orientation
will be corrected by the
F/T Insert Pin
command. It tries to push the pin with
the predefined force limit and adjusts the orientation if necessary. It stops when
the defined insertion depth is reached.
It is important to set the TCP (Tool Center Point) at the tip of the pin
or peg.
Make sure that the
F/T Zero
command is used before the
F/T
Insert Pin
is executed and the tool is not in contact with any
object (the force/torque reading is zero).
Pushing force:
The force target used for the force control to gently push the pin
into the hole.
Minimum depth
: The minimum distance required to consider the insertion
successful, from the starting point along the Z axis (in Tool coordinate system).
Maximum depth
: The maximum distance the insertion is allowed to reach, from the
starting point along the Z axis (in Tool coordinate system).
Delta force
: If this parameter is set, after the
Minimum depth
has been reached, a
‘bump’, an increase in the pushing force is expected (such as closing a snap-fit
joint). This parameter is the additional force on top of
Pushing force
that the
insertion is performed with, between the minimum and maximum depths.
Show advanced parameters
checkbox: If checked then more options become
available:
