Table of Contents
Advertisement
Exercise 1: Phase focusing and assembly inspection
Exercise 1-2 Perform phase focusing for the gear at hand insertion, and pulling out
operation
1)
Set "185.00" only for the Z-axis of the robot tool data.
Teach the position above the cylinder where the gear is to P2.
(When the hand cannot be inserted to the cylinder, teach the position again.)
2)
Add 2 mm to the Z-axis value at insertion that was recorded in Exercise 1-1. Set that height
as the Z judgment value at insert completion.
3)
Move the robot to P2 and use the force sense function to match the phase of the gear. Then
insert the hand. If the phases are matched already, rotate the gear manually.
4)
When the hand is inserted, lift the robot in Z-axis direction and pull out the hand.
PHome
P2
-127-
Phase focusing
Same as
Exercise
1-1
Advertisement
Table of Contents
