External Tool Finishing Kit - Instruction Manual
Info
The parent Insertion node is automatically followed by a Zero Sensor child node.
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
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.
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