OnRobot HEX-E v1, Руководство пользователя

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Using the URCap Plugin 47
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3. Press the F/T Zero button.
4. The
F/T Zero
command appears under the
Robot Program
node.
This command has no return value.
3.4 TCP Offset Propagation
Each time the TCP offset is changed within any program, the following script needs
to be run, to propagate this change to the Compute Box: of_send_tcp_offset()
3.5 Application Examples
3.5.1 Collision Detection
Collision detection can be implemented by the following commands:
1.
F/T Search
: It can be used for Presence detection. It searches for an object
and stops once it is found. If the object could not be found it gives a warning
message. If the position of an object is varying it can also be used to easily
determine its exact location.
2.
F/T Move
: It can be used for Force/torque limited movements. It is similar to
the UR’s Move command but with built-in force/torque limitation and supports
relative offset type parameters (e.g.: move 1 cm or 1 inch along the Z axis).
3.
F/T Guard
: It can be used in combination with any UR command to limit the
exerted force/torque. It monitors the set limits in parallel to your code and once
the set limits are reached it stops the robot.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called OnRobot_Collision_Detection_Example.urp .
3.5.2 Center Point Detection
With the help of gentle contacts the robot can be positioned to the geometrical
center point of a hole. It also works with shiny metal objects that are usually
impossible with camera based solutions.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called OnRobot_Centerpoint_Detection_Example.urp .
3.5.3 Polishing and Sanding
For any polishing or sanding task, it is very important to keep the predefined force
value constant. This task can be achieved with our force/torque control functions,
that requires the following two commands to be used:
1.
F/T Control
: This command is similar to the UR’s built-in Force command, but
uses the OnRobot more precise force/torque sensor as an input to achieve an
excellent result even with low forces. The force/torque control tries to keep the
defined force/torque constant on the axes that are set to be compliant. The non-
compliant axes are position controlled (only with the
F/T Move
command).