2.3. Example program

2.3. Example program

 

Chamfering work

 

 

 

Movement of the robot	§ Move from S1 to S2, which is the point of starting the processing § After the SoftJoint is turned on, the robot will carry out chamfering while moving to S3. § Move to S4 after the SoftJoint function is turned off.
Position recording (S2–S3)	As the SoftJoint makes it possible to be pushed for an external force, the teaching point should be placed inside the workpiece to secure the effect of applying a force onto the workpiece
Axis.Softness	§ Set the softness by taking in consideration the direction of working, the material of the workpiece, and the level of machining. § In the example shown above, as the robot will be pushed in the +X direction based on the robot coordinate system while moving in the –Y direction, it is needed to set the softness for the R2 and B axes