OnRobot VGC10, Руководство пользователя, Страница: 65 / 213

Operation
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F/T Search
The
F/T Search
command is used together with the
F/T Waypoint
command, to move the robot
along a route, or together with the
F/T Path
to move the robot along a Path and stop once the defined
force/torque limits are reached (object found). If the movement reaches the last waypoint or the last
point of the path, the search is not successful (the object is not found) and a warning is generated.
NOTE:
To cancel any force/torque offset, execute an
F/T Zero
command at the
beginning of the
F/T Search
command and make sure the tool is not in
contact with any object before starting the
F/T Search
, otherwise the
command may not stop at the given force/torque limit.
To operate the
F/T Search
command tap on the Add Waypoint button to add an
F/T Waypoint
as a
child node. More waypoints can be added in the same way. To remove a waypoint, use the Structure tab
Delete button.
Alternatively,
F/T Waypoint
or
F/T Path
could be added as a child node of the
F/T Search
command by using the Structure tab.
Speed
:
The movement speed while searching for collision. The movement is carried out in a constant
translational speed. If the route or path has sharp changes in the direction, or the orientation, the actual
speed of the robot may be less than specified, but still constant throughout the route or Path.
NOTE:
Overshooting can occur during search, especially with hard contacts (e .g.
metal surfaces). To limit overshoots you should lower the speed.