Operation details

As the following figure shows, the robot holds a workpiece and then supports press-fitting process. By activating the compliance function at the press-fitting, the robot gives under the press-fitting direction.

1

Set the tool coordinate to TOOL1, and then move to above the workpiece to pick (approach position of P1).

2

Approach the workpiece (P1) to hold.

3

Move to above the workpiece (negative Z direction of the tool coordinate from P1).

4

Move to the position before the press-fitting (P2).

5

Move to above the press-fitting position (approach position of P3).

6

Move to the press-fitting position (P3), and then enable the compliance function.

Start the press-fitting machine.

7

The press-fitting is started. The robot gives under the press-fitting direction because the compliance function is enabled.

8

After completion of the press-fitting, lift up the press-fitting machine, and then disable the compliance function.

Release the workpiece, and then move to above the press-fitting position (negative Z direction of tool coordinate of P3).

9

Move to the position before the press-fitting (P2).