2.22. TOUCHSEN
2.22. TOUCHSEN
Description | The TOUCHSEN statement is a command for performing touch sensing. It is possible to set the sensing type and sending a condition through a quick open window. Such information will be stored in ROBOT.TSC. When the movement to the position for touch sensing is performed, and the TOUCHSEN statement is executed, touch sensing will be performed automatically according to the sensing type and condition at the relevant position. | ||
Grammar | • TOUCHSEN TSC#=<Condition number>, <Direction 1>, < Direction 2>, <Direction 3 or Amount to lift>, <Pose to store>, <Butt gap variable> • TOUCHSEN TSC#=<Condition number>, <Direction 1>, < Direction 2>, <Direction 3>, <Sensing angle>, <PAR number>, <Butt gap variable> | ||
Parameter | Condition number
| Touch sensing condition number | 1 ~ 8 |
Direction 1–3 | Touch sensing direction (Orthogonal, pose, tool and tool projection)
The direction to be supported varies depending on the sensing type. | +X, -X +Y, -Y, +Z, -Z, +TX, -TX, +TY, -TY, +TZ, -TZ, TF, TD, TL, TR P1~P9999 | |
Pose to store | Designates the pose number | P1~P9999 | |
Butt gap variable | Variable to store the gap measured in the case of the butt and VGroove types | V변수 | |
Sensing angle | An axis for the base, tool, and tool projection coordinates. It rotates in all sensing directions. | Y30, Y-30 X30, X-30 TL30, TL-30 TY30, TY-30 | |
PAR number | A number is for the pose and shift and is to be used when utilizing the master mode. In the master mode, the sensing value will be stored in the pose of the relevant number. In the execution mode, the shift value will be stored in the shift of the relevant number. | PAR=1~9999 | |
Example of usage | • TOUCHSEN TSC#=2, +TX, +TZ, 3, P10, V1! #2 condition, tool coordinate direction and ascending 3 mm after bottom sensing • TOUCHSEN TSC#=1, TF, TD, 0, P10, 0 #1 condition, tool projection direction and two-point touching • TOUCHSEN TSC#=1, +X, -Y, -Z, P10, 0 #1 condition, base coordinate direction and three-point touching | ||