Simple Force

Description

The Simple Force program enables you to use only one required axis as compliant for a desired force. The force along this axis is adjustable and is always applied along the z-axis of the selected feature.

 

To access Simple Force program

  1. Go to the basic command screen. See Basic Command Nodes.

  2. Tap the Simple Force icon in the Commands screen.

    A node is inserted into the program tree. The node has three editable fields and a More button for advanced options.

    The three fields are inactive by default and are named:

    • X

    • Y

    • Z

    Each field has a slider button on the left side to switch activate or deactivate.

 

  1. Tap the slider button to the right to activate the X field.

    Three tabs to input the X coordinate are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  2. Tap Value and input the X coordinate.

  3. Tap Confirm.

  4. Tap the Expression tab and enter the value.

  5. Tap Confirm.

  6. Tap the slider button to the right to activate the Y field.

  7. Tap Value and input the Y coordinate.

  8. Tap Confirm.

  9. Tap the Expression tab and enter the value.

  10. Tap Confirm.

  11. Tap the slider button to the right to activate the Z field.

  12. Tap Value and input the Z coordinate.

  13. Tap Confirm.

  14. Tap the Expression tab and enter the value.

  15. Tap Confirm.

To use More options

  1. Tap the More button.

    A new screen appears containing two advanced settings:

    • Reference

    • Zero sensor

  2. Tap Reference on the left side.

    A new Frame field appears in the right side, containing four selections:

    • base

    • tcp

    • world

    • flange

  3. Tap your chosen frame of your reference.

  4. Tap Confirm.

  5. Tap Zero sensor on the left side.

    Note: To ensure correct measurement from the sensor, please make sure that the tool is not in contact with any surface when zeroing the force torque sensor.

 

  1. Tap the Zero sensor check box to activate or deactivate the setting.

  2. When Zero sensor is activated, tap the Waiting field below.

  3. Enter the waiting Value in seconds.

  4. Tap Confirm.