1.1. Introduction

1.1. Introduction

 

The ServoFree has a function by which a robot may move naturally, responding to a external force; therefore there is no need for additional hardware such as a force sensor in using the function because it is run in a software way. Because the robot without the Servofree function (or with the inactivated ServoFree function) is controlled to follow the planed directions, it does not slide by the external force. So the ServoFree function is necessary for a robot tool to slide naturally in line with the ejector’s motion of an injection molding machine during the operations such as taking out injection molded products.

 

One of the axial directions of the coordinate system provided by the controller is a possible direction to slide by the external force. And the robot may slide along any spatial lines with the use of the user’s coordinate system. While the robot slides, the tool holds its position which has been set up right before the activation of the ServoFree function.

 

 

Figure 1.1 Example of ServoFree (When the function is activated in the +Y direction of the robot coordinate system)