universal robots UR20 Benutzerhandbuch Seite 262

82. Add Until
Add a Until tool
contact to a robot
program
Detail
I/O Input
Benutzerhandbuch
1. When you have added the Until command, tap the
VORSICHT
The default speed of motion is too high for contact
detection. A faster speed of motion triggers a robot stop,
before the Tool Contact condition can take effect. To avoid
triggering a robot stop, lower the speed of motion. For
example: 100m/s.
HINWEIS
Until Tool Contact might not work if the mounted tool
vibrates. For example: a vaccuum gripper with an
embedded pump can introduce fast vibrations.
Use the Retract to Contact setting for the robot to return to the initial point
of contact. You can set an additional reverse movement to make the robot
move free of, or toward, contact. This is useful if you have a gripper that
needs free space to move, or if a clamping action is needed.
This node uses an I/O input to stop a signal controlled motion.
You can also use an an I/O input to specify a stop condition.
262 UR20