4.11. Insertion nodes
The Copilot software Package includes Insertion nodes, which can be used to perform spiral, rotational and linear movements to
insert objects in holes or bores, or to make contact with a surface. It is an essential integration resource for streamlining robot
programs in the framework of precise assembly applications.
When the task is performed by a human operator, the operator's fingers provide valuable feedback through the sense of touch,
thus allowing the human to detect any resistance when trying to insert a pin in a hole, for instance. To a certain extent, Copilot
gives that kind of sensitivity to the end effector.
How to add an Insertion node
l
On the teach pendant, tap the New button to create a program or the Open button to load a program
l
Tap Program
→
URCaps
l
Select Insertion
l
Tap the Insertion node in the robot program to edit it
Info
The parent Insertion node is automatically followed by a Zero Sensor child node.
4.11.1. Child nodes
1
Spiral button to insert a Spiral child node
2
Rotational button to insert a Rotational child node
3
Linear button to insert a Linear child node
61
