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
8
Radius increment per turn parameter: Textbox for the user to enter the distance between each spiral turn on the spiral radius
9
Enable peck mode box: Box that enables the retraction of the tool between points of contact
10
Maximum radius (Error condition): Textbox for the user to enter the maximum radius of the spiral, considering that no path of
least resistance has been found
Default values and units of measurement
Parameter
Unit of measurement
Default value
Reference frame (Direction)
N/ A
Tool
Axis (Direction)
N/ A
Z+
Speed
mm/ s
5
78
