ROBOTIQ CNC Machine Tending Kit Instruction Manual page 72

72
5.7.2. Insertion Children Nodes
1
Spiral button to insert a Spiral child node
2
Rotational button to insert a Rotational child node
3
Linear button to insert a Linear child node
Spiral
Following a contact established between the
object grasped by the end effector (or the end
effector itself) and the corresponding mating
part or surface, a spiral motion is engaged on a
specific plane to find the path of least
resistance according to the direction, speed,
force, radius increment per turn and maximum
radius parameters set by the user.
Spiral Insertion
The Spiral child node is packaged with an On error condition line to be populated with a program instruction when/if the error condition
occurs. The potential sequence after the Spiral instruction is followed by a program halt, by default.
Robotiq CN C M achine Tending Kit Instruction M anual
Rotational
Following a contact established between the
object grasped by the end-effector (or the
effector itself) and the corresponding mating
part or surface, a rotational motion is engaged
on a specific plane to find the path of least
resistance, according to the direction, speed,
force, maximum torque and maximum rotation
angle parameters set by the user.
Linear
Following the successful
spiral, rotational or
fortuitous location of a
mating hole or bore, a
linear motion is engaged
at a certain speed until
the force threshold or
maximum travel distance
is reached.