SETUP SERVO TOOL SCREEN


SETUP SERVO TOOL SCREEN

You can set up Servo Tool for high sensitive detecting function in many different conditions. $SV_DETECT[group].$DETECTED can be used to monitor detecting condition after $SV_DETECT[group].$TRIGGER has been set any number greater 0. For example, High Speed Skip standard TP instruction can be used to monitor $SV_DETECT[group].$DETECTED system variable to switch program flow when collision detected.

Warning

Regular error checking will be reduced or disabled when Servo Tool is enabled. Verify the path with extra caution.

Table 1. Servo Tool Setup

Item Description
Setting menu: Schedule No [ ] This item identifies the schedule you will set up or modify.
Group Number This item identifies the group number of the axes to be controlled.
Axis Number This item identifies the axis number whose torque you want to specify.
Torque Limit

Range: 1% to 100%

Default: 100%

This item is the percentage torque limit for the specified axis.

Contact Sensitivity

This item identifies the duration that the servo axis remains idle in system ITP time. When the servo axis remains idle over this time period, the contact between the servo axis and the part will be determined, and the next action will be executed.

Contact Tolerance

This item identifies the idle condition of the servo axis in encoder counts. For example, if this item is 2, then this servo axis is idle as long as the encoder reading for this servo axis maintains within 2 counts each time.

Auto Position Update

Default: YES

If set to Yes, position data of the specified axis between the SERVOTOOL[ ] and SERVOTOOL End instructions is updated automatically. You do not need to use an offset command or PR[ ] value when teaching the Servo Tool program.
Settings after contact:

These items specify the amount of force to be exerted after the end effector contacts the workpiece.

Offset

This item is not used if Auto Position Update is set to NO.

This item specifies the position offset at which contact is made. A positive value means the specific axis will be commanded to move an offset in the positive axis direction. This item can be used to control the tightness between end effector and part.

If Auto Position Update is set to NO, this item will be disabled and the original taught point will be used.

Torque Limit This item specifies the new torque limit to be applied to the workpiece after contact is made. This value can be used to control the tightness between end effector and part.