Force Event - ROBOTIQ CNC Machine Tending Kit Instruction Manual

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5.9. Force Event

The Force CopilotURCap includes the Force Event node, which can be used to perform a click detection or to wait for a specific force or
torque.
5.9.1 . Adding a Force Event Node
1. On the teach pendant, tap the New button to create a program or the Open button to load a program
2. Tap the URCaps button in the navigation pane on the left
3. Select Force Event
4. Tap the Force Event node in the robot program to edit it
5. Select an operation to add to the Force Event sequence
1
Wait for force function
2
Click detection function
Wait for force
The Wait for force feature is used to detect a specific force or
torque inside a Force Control node.
5.9.2. Click Detection
The Click Detection feature monitors forces and torques throughout the nodes placed within it. This feature senses if a drop in the force
or torque is then followed by a sudden rise, thus making a " click" . If a click is detected within the Click detection node, the program then
skips the remaining instruction lines that are included in the Click detection node. The program automatically goes to the following
instruction.
A program instruction can be added if no click is detected.
Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 5-24: Interface of the Force Event node.
Click Detection
The Click Detection feature is used to detect a drop that is
followed by a rise of a force or a torque.