10.5.1.18. SoftXYZ

10.5.1.18. SoftXYZ

 

Explanation	As one of the sensor-less force control functions, this function allows the robot to be pushed based on the orthogonal coordinate by an external force
Syntax	SoftXYZ <ON/OFF>,CRD=<reference coordinate>,[<user coordinate number>]
Parameter	ON/OFF	ON: Enable, OFF: Disable
	CRD	Reference coordinated for the robot to be pushed. User coordinate number when the reference coordinates are U and Un.
Example	(Example 1) Allowing the robot to be pushed in the X, Y, and RY directions to be assembled in the Z direction. : Sets the root to be pushed, based on the robot coordinate (CRD=1), in 5mm/s for maximum within the range of -50~+50mm in the X and Y directions, and in 3 deg/s for maximum within the range of -3~+3 in the RY direction.   S1   MOVE P,S=100mm/s,A=1,T=0       DELAY 2      LIMIT XnR,X=50, Y=50,RY=3      LIMIT VEL,X=5,Y=5,RY=3 SoftXYZ ON,CRD=1‘function start S2   MOVE … SoftXYZ OFF‘function end END   (Example 2) Handling of injection-molded objects : : Sets the robot to be pushed up to 300mm, based on the robot coordinate (CRD+1), in 200mm/s for maximum in the +Y direction. Sets the robot to be pushed only when 10% or more of the maximum torque is applied on the S, H, and V axes through the LIMIT THR command.     S1   MOVE P,S=100mm/s,A=1,T=0       DELAY 2      LIMIT POS, +Y=300      LIMIT VEL,Y=200      LIMIT THR,S=10, H=10, V=10 SoftXYZ ON,CRD=1 S2   WAIT … SoftXYZ OFF END

 

 

l  Before using the function through SoftXYZ ON, the maximum push distance, the maximum push speed, and axis threshold need to be set through the LIMIT POS, XnR, VEL, and THR commands.

 

l  In order to increase the robot’s sensitivity to the external force, it is recommended that the robot must be held for 1~2 seconds through the DELAY command before SoftXYZ ON.