Center Finder is a motion option that allows you to find the center of a two-dimensional symmetric shape such as a circle, hexagon, or triangle. The found center can be used as a reference point. You might use it for position recording incremental positions from the center of a chuck, for example.
Table 1. Center Finder Menu Items
ITEM |
DESCRIPTION |
---|---|
Position Register |
This item allows you to select which position register you want to use. When you select a different position register, the x, y, z, w, p, and r positions will display the content of the selected position register. |
Motion Frame |
This item allows you to select which motion frame you want to use for the contact search motions. There are six selections:
|
Plane Axis |
This item allows you to select which axis will function as the Plane Axis. The Plane Axis is the axis normal to the plan that contains the shape. There are six selections:
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|
Search Type |
This item allows you to set the type of search that
Center Finder will perform. There are seven selections:
|
Motion Setup |
This item displays whether Motion Setup is complete or incomplete for Center Finder. You must set up motion for your environment the first time you use Center Finder. |
Orientation Setup |
This item displays whether Orientation Setup is complete or incomplete for Center Finder. Orientation Setup is optional. It allows you to adjust the robot so the tool is perpendicular to the plane that contains the geometry. |
Table 2. Center Finder Motion SETUP Menu
ITEM |
DESCRIPTION |
---|---|
Points on Plane |
This item specifies the number of searches for the shape. For x axis, y axis, and z axis search types, this setting is ignored. |
Motion Speed |
This item specifies the normal motion speed when the robot is looking for the contact. |
Search Speed |
This item specifies the contact searching speed when the robot is moving back from a contact position to a search position. |
Search Distance |
This item specifies the maximum amount of distance the contact search motion will travel. If the robot does not detect a contact within the search distance, an error will be posted. |
Learn Distance Units: mm Range: 0.5 – 10.0 Default: 5.0 |
For“TOS All Axes” method only, there is a short motion before each search to identify dynamic torque values. Learn Distance is the distance in millimeters of this short motion, the direction is determined at the time of the motion. |
Learn Speed Units: mm/sec Range: 1.0 – 75.0 Default: 10.0 |
For“TOS All Axes” method only, this is the speed of the learning motion before each search. |
Convergence Error |
This item specifies the iteration convergence criteria. If the current iteration is within the specified error, the center position is found. |
Do Z Check |
This item allows you to set the Do Z Check flag. If the flag is set to TRUE, you can run Z direction for the chuck. If the flag is set to FALSE, you cannot execute Z_MOVE. |
Orientation Angle |
This item specifies the maximum allowable orientation change for setting up the orientation of the tool to be perpendicular to the chuck surface. |
Sensitivity Tolerance |
This item allows you to set the sensitivity tolerance for the Torque Observer Sensor (TOS). The lower the number is, the more sensitive the TOS will be. WarningBe careful when changing this number. Changing the sensitivity tolerance might cause a false detection. This could injure personnel or damage equipment. |
Torque Threshold |
This item allows you to set the percentage of torque the robot will put out before it detects a contact. |
Sensor Type Values: TOS Wrist , I/O, TOS & I/O, or TOS All Axes Default: TOS All Axes |
This item indicates the kind of sensor used with TCP calibration. The three modes are:
|
Detection Port Type Values: RDI, DI, WDI, WSI Default: DI |
This item allows you to select RDI, DI, WDI, or WSI (wire stick-out input port) for the contact detection port. |
Detection Port Number Default: 0 |
This item allows you to select the I/O port number for the contact detection port. |
Sensor Enable Port Type Values: RDO, DOUT, WDO, WSO Default: DOUT |
This item allows you to set the sensor enable port type to RDO, DOUT, WDO, or WSO This is optional. If your I/O detection port needs to be enable before it can do contact detection, you have to set up this port. |
Sensor Enable Port Number Default: 0 |
This item allows you to set the digital output port number for the circuit enable port. |
Table 3. Troubleshooting Information
ERROR | SOLUTION |
---|---|
Robot does not make contact with the part |
|
Robot does not make solid contact with the part and returns to the search start position prematurely. |
Display the Center Finder system setup sub-menu and change the Sensitivity Tolerance to a larger number. |
Excessive vibration when robot is returning from the contact position back to the search start positions. |
Display the Center Finder system setup sub-menu and reduce the motion speed. |
Center Finder does not have enough information to determine the center and reports a "Cannot Converge" error. |
Increase the number of points on the shape. |