Robotiq Finishing Kits- Instruction Manual
4.14. Force Event node
The Force Event node can be used to perform a click detection or to wait for a specific force or torque.
How to add a Force Event function
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On the teach pendant, tap the New button to create a program or the Open button to load a program.
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Tap the URCaps button in the navigation pane on the left.
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Select Force Event.
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Tap the Force Event node in the robot program to edit it.
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Select an operation to add to the Force Event sequence.
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Wait for Force function
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Click detection function
Wait for Force
The Wait for force feature is used to detect a specific force
or torque inside a Force Control node.
Click Detection
The Click Detection feature is used to detect a drop that is
followed by a rise of a force or a torque.
4.14.1. Features (Click Detection)
The Click Detection feature monitors forces and torques throughout the nodes placed within it. This feature senses if a drop in the
force or torque is then followed by a sudden rise, thus making a "click". If a click is detected within the Click detection node, the
program then skips the remaining instruction lines that are included in the Click detection node. The program automatically goes
to the following instructions.
Indeed, a program instruction can be added if no click is detected.
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