ID : 5931
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).
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2
Approach the workpiece (P1) to hold.
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3
Move to above the workpiece (negative Z direction of the tool coordinate from P1).
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4
Move to the position before the press-fitting (P2).
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5
Move to above the press-fitting position (approach position of P3).
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6
Move to the press-fitting position (P3), and then enable the compliance function.
Start the press-fitting machine.
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7
The press-fitting is started. The robot gives under the press-fitting direction because the compliance function is enabled.
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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).
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9
Move to the position before the press-fitting (P2).
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ID : 5931