Robotiq Finishing Kits- Instruction Manual
Spiral
Following a contact established
between the object grasped by the
end effector (or the end effector itself)
and the corresponding mating part or
surface, a spiral motion is engaged on
a specific plane to find the path of
least resistance according to the
direction, speed, force, radius
increment per turn and maximum
radius parameters set by the user.
Rotational
Following a contact established
between the object grasped by the end
effector (or the effector itself) and the
corresponding mating part or surface, a
rotational motion is engaged on a
specific plane to find the path of least
resistance, according to the direction,
speed, force, maximum torque and
maximum rotation angle parameters set
by the user.
Linear
Following the successful spiral,
rotational or fortuitous location of a
mating hole or bore, a linear motion is
engaged at a certain speed until the
force threshold or maximum travel
distance is reached.
Features (Spiral)
The Spiral child node is packaged with an On error condition line to be populated with a program instruction when/if the error
condition occurs. The potential sequence after the Spiral instruction is followed by a program halt, by default.
1
Teach position button (Destination): Tapping this button saves the object's destination as a waypoint in the robot program
2
Reference frame dropdown menu (Direction): Menu used to select the frame according to which the tool will move in space
3
Axis dropdown menu (Direction): Menu used to select the direction in which the tool will go to reach the destination
4
Advanced parameters box: Box that expands the advanced parameters menu when ticked
5
Speed parameter: Textbox for the user to enter a speed value
6
Force initiating spiral move parameter: Textbox for the user to enter a force threshold value that triggers the spiral move,
after the part/tool has established contact with the mating part/surface
7
Force initiating insertion parameter: Textbox for the user to enter a force drop value indicating that the part/tool has found
the path of least resistance, prior to completing the insertion process
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