OnRobot VGC10, Руководство пользователя, Страница: 77 / 213

Operation
77
F/T Insert Part
The
F/T Insert Part
command can be used for precision fitting an object into a hole.
NOTE:
To cancel any force/torque offset, execute an
F/T Zero
command at
the beginning of the
F/T Insert Part
command and make sure the
tool is not in contact with any object before starting the
F/T Insert
Part
, otherwise the command may not stop at the given force/torque
limit.
If the Set part TCP checkbox is checked the TCP will be set at the further end of the part. It requires the
following two parameters to be given:
Part length (L)
:
the distance between the center point of the fingertip sensors and the center point of the
item to be inserted.
Part angle (α)
:
the angle between the +Y axis of the fingertip sensor and the insertion direction of
the item to be inserted.
Pushing force
:
the pushing force can be selected:
:
sets the pushing force to be 3N.
:
sets the pushing force to be 6N.
:
sets the pushing force to be 12N.
Min depth : The minimum distance required to consider the insertion successful, from the starting po int.