2. Tap Transition_Point from the Robot Program, move the robot to the required position, and select Set waypoint .
Info
Transition Point : feature point used to move between waypoints without colliding with the object.
3. Repeat for Approach_Point .
4. Setup the Find Surface node. For more details, see Find Contact Offset node section.
5. Tap Retract_Point from the Robot Program, move the robot to the required position, and select Set waypoint .
6. Return to the Find Contact Offset node in the program tree and tap
.
7. The following windows are displayed :
8. Select Yes to save the offset value as the reference position, which can then be used for programs under the Apply Contact
Offset node. Select No if you want to set up different waypoints for the Touch sequence.
9. Proceed by inserting an Apply Contact Offset node.
39
