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ID : 5471
Program Example
A program example is shown below.
Program Example Description
- This program shows the example of the interdigitation.
- The Compliance Function with Force Sensor starts once the robot brings a workpiece to the starting position of the force control.
- The value of Force Sensor will be reset (0N, 0Nm) when starting the force control.
- The Compliance Function with Force Sensor ends once the workpiece has moved specified distance.
Example
Sub Main
'!TITLE "Interdigitation motion"
'
' Acquire the workpiece position P[1]
' Force control starting position P[2]
' Once this travel distance is achieved, force control ends F[1]
Dim startPos As Position
Dim rotStartPos As Position
Dim snsrVal As Position
TakeArm Keep = 0
Move P, @e P[1] 'Position to get workpiece
Delay 100
hand0.Chuck 1 'Hand chuck
Delay 100
Move P, @e P[2] 'Starting position
startPos = CurPos 'Set the current position as
'the starting position
ForceSensor 0 'Reset sensor
Delay 500
ForceCtrl True, 1, Mode = 1 'Start the Compliance Function with
'Force Sensor
Do
snsrVal = ForceValue(0) 'Acquire the sensor value
'Condition for motion end
'Wait until the tool end passes F1mm from the force control starting position
If (Abs(PosZ(*)-PosZ(startPos)) > F[1]) Then GoTo StopProc
Loop
StopProc:
ForceCtrl False 'End the force sensor
hand0.Unchuck 0 'Unchuck the hand
End Sub
ID : 5471