Contact | V3-manual

This is a command for moving a target distance after reaching the teaching pose or stopping movement if an external force is sensed during Force Control movement.

It requires force control in a specific direction, so it requires the [Compliance Control Setting] by default

Basic Information

Item	Description
Recommended Device	None
Optinal Features	Approach Pose / Retract Pose Setting Compliance Control Setting Select stop method ([TCP Force] or [Distance])
Command Completion Condition	Setting [Reference Pose]
Support Robot Series	AS, M, H, P

Default Motion Sequence

[TCP Force] Setting
Move to [Approach Pose] → Move to [Reference Pose] (position excluding [Contact Margin]) → Move with Force Control until External Force occur → Move to [Retract Pose]
[Distance] Setting
Move to [Approach Pose] → Move to [Reference Pose] → Move [Maximum Distance] value with Force Control while checking External Force → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	Reference Pose	Teaching Pose This is a random position.
Task Setting	Select Task (Option)	Select [TCP Force] or [Distance]	TCP Force [TCP Force, Distance]
	Maximum Distance	Max Distance This is applied only with the Distance setting.	50 mm [0 ~ 5000]
	Wait Time	Standby time before/after move to teaching pose	0.5 s [0 ~ 10000]
	Task Velocity	This is the velocity from the approach pose to teaching pose.	100 mm/s [0.001 ~ 8000]
	Task Acceleration	This is the acceleration from the approach pose to teaching pose.	0.1 m/s² [0.001 ~ 20]
Approach Pose Setting (Option)	Use	Select whether to use Approach Pose	True [True, False]
	Approach Distance	Distance from the teaching pose in x, y and z directions	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the approach pose.	250 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the approach pose.	0.25 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the approach pose. If greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
Retract Pose Setting (Option)	Use	Select whether to use Retract Pose	True [True, False]
	Retract Distance	Distance from the teaching pose in x, y and z directions	[0, 0, -100] mm [-99999.999 ~ 99999.999]
	Velocity	This is the motion velocity to the retract pose.	100 mm/s [0.001 ~ 8000]
	Acceleration	This is the motion acceleration to the retract pose.	0.1 m/s² [0.001 ~ 20]
	Motion Time	This is the motion time to the retract pose. If greater than 0 is entered, the Velocity/Acceleration values are ignored.	0 s [0 ~ 10000]
	Blending Radius	This is the blending radius connecting the movement between the teaching pose and the retract pose.	0 mm [0 ~ 1000]
Compliance Control Setting (Option)	Use	Select whether to use the Compliance Control	True [True, False]
Compliance Control Setting (Option)	Stiffness	Stiffness Setting	x=y=z 3000 N/m [0 ~ 20000] rx=ry=rz 200 Nm/rad [0 ~ 1000]
Contact Sensing Setting	Task Direction	Orientation setting during force control Orientation is based on Tool Coordinates.	Z [X, Y, Z]
	Contact Margin	Margin for contact sensing section setting The contact sensing section is configured by adding the +/- contact sensing margin from the teaching point.	3 mm [0 ~ 100]
	Desired Force	Target Force Value Target force must be greater than the sense value, and the absolute value must be greater than 10N(In the case of A series, there is no limit to the desired force value).	15 N [-1200 ~ 1200]
	Contact Force	This is the reference force for contact sensing. If the contact force value is too small, the contact skill may malfunction and be recognized as contact before actual contact occurs. Be careful when setting the Contact Force value to a value less than the default value.	10 N [0 ~ 1200]
	Timeout	This is the contact sensing time.	10 s [0 ~ 10000]