SETUP AUTO NORMAL SCREEN


SETUP AUTO NORMAL SCREEN

The Easy Normal utility is a software option that is used to align the end-of-arm tooling of the robot perpendicular, or normal, to a surface, such as a workpiece. This option assumes that a height or range sensor is available on the end of the robot arm.

Table 1.  Easy Normal Setup Items and Operations

ITEM DESCRIPTION

Sensor Input

This item allows you to specify the number of the digital or robot input that the robot will receive when the sensor locates an object.

Search Speed

default: 20 mm/sec

min: 1 mm/sec

max: 20 mm/sec

This item allows you to specify the speed the robot will use to search toward the object. In general, slower search speeds result in more accurate results.

MoveTo Speed

default: 200 mm/sec

min: 1 mm/sec

max: 200 mm/sec

This item allows you to specify the travel speed the robot will use while moving between search positions.

Search Distance

default: 20 mm

min: 1 mm

max: 50 mm

This item allows you to specify the maximum distance the robot will search toward an object before the robot ends the search and posts an error message.

MoveTo Height

default: 10 mm

min: 1 mm

max: 50 mm

This item allows you to specify the height above an object at which the robot will travel to and from search positions.

Current Search Size

default: SMALL

values: SMALL, MEDIUM, LARGE

This item allows you to specify the currently selected search size in the x-y plane:
  • SMALL - x = 10 mm; y = 10 mm

  • MEDIUM - x = 15 mm; y = 15 mm

  • LARGE - x = 20 mm; y = 20 mm In general, larger search areas result in more accurate normal positions

Small X

default: 10 mm

Small Y

default: 10 mm

Medium X

default: 15 mm

Medium Y

default: 15 mm

Large X

default: 20 mm

Large Y

default: 20 mm

min: 10 mm

max: 200 mm

These items allow you to define the x and y distances between search positions for each kind of search size: small, medium, and large.

SMALL

Press this key to define the x and y distances between search positions for the search size of small.

MED

Press this key to define the x and y distances between search positions for the search size of medium.

LARGE

Press this key to define the x and y distances between search positions for the search size of large.

Search Direction

This item allows you to specify the direction of search either along the tool Z or -Z.

Status Register

0: success

1: max. search distance exceeded

2: contact during moves

This item allows you to specify the number of the numeric register to indicate the search status.

Contact Position Register

This item allows you to specify the number of the position register to record each contact point.