ROBOTIQ FT 150, Инструкция по эксплуатации

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Robotiq FT-150/300 Sensor Instruction Manual
Robotiq inc. © 2016 34
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Inside Polyscope, load the program called "test_sensor" located in the "sensor" folder and run it. The program
will display popups with the following information: sensor firmware version, production year, serial number.
The force and torque current readings for Fx, Fy, Fz, Mx, My and Mz are displayed in the
tab. Variables
Removing the Package
Use the uninstall.sh file provided in the package.
Place it alone on a blank USB stick.
Rename it to urmagic_uninstall.sh.
Plug the USB stick into the UR controller (or teach pendant).
Uninstall will be automatic.
4.3.2 Provided examples
When driver package DFU-X.X.X provided at is installed as shown in , demo scripts support.robotiq.com Section 4.3
will be available.
demo_force_push_move.script
Will move the robot towards the z axis until a force in the z axis is reached.
When the Fz_max threshold is reached the robot will stop (set to 15N in the example).
Fz_tolerance is the tolerance for "noise" on the signal, set to 2.5N.
Tip
Always leave a tolerance on the force lecture, minimum is +- 0.5 N, so a
noise level under 1 N will result in erratic results. In this example, 2.5N is
used because the sensor and the tool cables can have an effect on the
sensor too.
demo_force_push_release.script
Will apply a force along the z axis and move
Robot moves to a defined position
Robot will apply a force on a surface equal to Fz_applied
Threshold force is set with Fmax
Robot will return to Home
demo_force_twist_release_script
Will move the robot wrist in a rotary movement to apply a certain amount of moment in the z axis then
move
Robot moves to a defined position
Robot will apply moment (Torque) Mz at the wrist.
Threshold moment is set with Mmax
Robot will return to Home
4.3.3 Custom programs
First, open "sensor_template" in the list of provided templates.
Second, push ''play'' and check on the ''variables'' tab, you will see the sensor variables Fx, Fy, Fz, Mx, My, Mz. You
can verify by applying force to the sensor, it should respond.
Now add your instructions in the robot program section, for example you can command the robot to move until you
read a certain threshold of force. The program instructions (robot motion, logic, etc.) can be added after the "Script:
accessor_capt" line and you can start building the program as it is normally done with Polyscope.