OnRobot VGC10 User Manual page 72

Operation
F/T Insert Part
First position the pin or peg that needs to be inserted to the hole pointing in the right direction and close
to the hole entrance. The final position and orientation will be corrected by the F/T Insert Part
command. It tries to push the pin with the predefined force limit and adjusts the orientation if necessary.
It stops when the defined insertion depth is reached.
NOTE:
It is important to set the TCP (Tool Center Point) at the tip of the part.
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at
the beginning of the F/T Insert Part command and make sure the
tool is not in contact with any object before starting the F/T Insert
Part, otherwise the command may not stop at the given force/torque
limit.
Pushing force The force target used for the force control to gently push the part into the hole.
:
Min depth: The minimum distance required to consider the insertion successful, from the starting point
along the Z axis (in Tool coordinate system).
Max depth: The maximum distance the insertion can reach, from the starting point along the Z axis (in
Tool coordinate system).
Overshoot force: If this parameter is set, after the Min depth has been reached, a 'bump', an increase in
the pushing force is expected (such as closing a snap-fit joint). This parameter is the additional force on
top of Pushing force that the insertion allows, between the min and max depths.
Show advanced options If checked then more options become available:
:
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