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 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. |