Insert | 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
The spiral search motion and periodic search motion for finding holes must be configured.
Spiral Search Motion options, Spiral Interval, Max. Radius, Velocity and Acceleration can be configured.
For the periodic search motion, amplitude, period and repeat can be configured.
The user can configure timeout as a method for notifying failures of the two motions.

Basic Information

Item	Description
Recommended Device	GripperDA, Gripper SA
Optinal Features	Approach Pose / Retract Pose Setting Compliance Control Setting (must be set as True) Spiral Motion Setting Periodic Motion Setting
Command Completion Condition	Setting [End Effector] Setting [Reference Pose]
Support Robot Series	AS, M, H, P

Default Motion Sequence

Move to [Approach Pose] → Move to Hole Surface (Pose excluding [Hole Depth] + [Contact Margin] at Teaching Pose) → External Force Sensing → Hole Search Motion → Insert → [Release] action of [End Effector] → Move to [Retract Pose]

Definition of Screen

Item		Description	Default Value and Input Range
Basic Setting	End Effector	I/O test available upon gripper selection
Basic Setting	Reference Pose	Teaching Pose This is the point where the gripper grasps a workpiece and inserts it in a hole.
Task Setting	Hole Depth	This is the depth of the hole.	20 mm [0 ~ 200]
	Insert Velocity	This is the velocity at the final insert.	30 mm/s [0.001 ~ 8000]
	Insert Acceleration	This is the acceleration at the final insert.	0.03 m/s² [0.001 ~ 20]
	Task Velocity	This is the velocity from the approach pose to the hole surface.	100 mm/s [0.001 ~ 8000]
	Task Acceleration	This is the acceleration from the approach pose to the hole surface.	0.1 m/s² [0.001 ~ 20]
Gripper Setting	Set TCP (Option)	Select TCP	Not Used [TCP items set in robot parameter]
	Set Tool Weight (Option)	Select Tool Weight If a workpiece is grasped, apply the weight information.	Not Used [Tool Weight items set in robot parameter]
	Set Tool Shape (Option)	Select Tool Shape	Not Used [Tool Shape items set in robot parameter]
	Release After Insertion (Option)	Select Gripper [Release] Status after insert completion If the gripper release option is not used, the gripper does not perform the gripper release motion and moves to the retract pose after insert completion	True [True, False]
	Post-Gripper Wait Time	Standby time after [Release] action.	0.5 s [0 ~ 10000]
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 a motion time of 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 a motion time of 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	False [True, False]
Compliance Control Setting (Option)	Stiffness	Stiffness Setting	x=y=z 500 N/m [0 ~ 20000] rx=ry=rz 50 Nm/rad [0 ~ 1000]
Contact Sensing Setting (Option)	Use	Select whether to use the Contact Sensing	False [True, False]
	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.	2 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 10 N(In the case of A series, there is no limit to the desired force value).	12 N [-1200 ~ 1200]
	Contact Force	This is the reference force for contact sensing.	10 N [0 ~ 1200]
	Timeout	This is the contact sensing time.	10 s [0 ~ 10000]
Spiral Motion Setting (Option)	Use	Whether to use the Spiral Motion	True [True, False]
	Spiral Interval	Spiral Interval	0.5 mm [0 ~ 100]
	Maximum Radius	Max Radius	10 mm [0 ~ 200]
	Velocity	Spiral Search Motion Velocity	12 mm/s [0.001 ~ 8000]
	Acceleration	Spiral Search Motion Acceleration	0.012 m/s² [0.001 ~ 20]
Periodic Motion Setting (Option)	Use	Whether to use the Periodic Motion	True [True, False]
	Maximum Angle	Max Distance Rotation angle of the orientation Rx, Ry and Rz values are applied depending on the orientation during Force Control. The default orientation is Z, so the default direction of Max Distance is Rz.	5 deg [0 ~ 360]
	Maximum Period	Max Period	2 s [0 ~ 10000]
	Maximum Repeat Number	Max Repeat Count	10 [0 ~ 10000]

Note

The [Insert] command is influenced by the workpiece, hole and the deviation between the two, so it is difficult to select a setting that can succeed in all cases. The stiffness, force and margin values must be adjusted according to the environment, and the settings must be adjusted considering search motion information.

Version : E, A Series

The [Insert] command is not available on robot models without FTS.