Two nodes are introduced with the External Tool Finishing Kit:
l
Find Contact Offset
l
Apply Contact Offset
The Find Contact Offset and Apply Contact Offset nodes integrate the Multipoint Path and Find Surface nodes as part of Touch
sequences. The current Instruction Manual includes information on those nodes.
4.2.1. Find Contact Offset node
When using Contact Offset capabilities, run this node before the Apply Contact Offset node. This node finds by how much a reference
feature has been offset, and stores this value, which will be used by the Apply Contact Offset node.
URCaps
Instructions
On e-Series robot:
On CB-Series robot:
1. Go to the Installation tab
→
Features
→
Point.
2. Create a Feature Point, then tap " Set Point" .
Caution
The feature point can be located anywhere, as
long as the set coordinates remain within the
robot reach at all times.
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