Robot Soft Float Function

1 Soft float function description

It is used in the loading and unloading steps of workpiece picking and robot machine tools.

After the soft floating function is turned on, the robot can change its attitude by external force, and the specific torque can be set through parameters. When the gripper is grasping the workpiece, the thimble will lift the workpiece, the claw can follow the direction of workpiece movement, change the attitude and move with the workpiece, and the robot can stop in time when the torque increases to the set value to avoid hard collision and friction.

Robot Soft Float Function

When the robot will unload the equipment, it is difficult to ensure that the workpiece and the fixture on the equipment are completely aligned, which may cause the workpiece and the equipment to interfere with each other, after the robot turns on soft floating, the workpiece can rely on the fixture to automatically fine-tune the attitude to avoid interference collision.

Robot Soft Float Function

In addition, the soft float function is also effective when the workpiece needs to be removed synchronously on the hydraulic extruder and the synchronous speed is unstable, as well as when roughing the blank is loaded.

2 How to user soft float

FANUC robot soft floating, joint soft float and Cartesian soft floating.

Joint soft float allows the servo flexibility (the strength of the axis against external forces) to be set for each joint axis.

Cartesian soft floating needle The specific Cartesian coordinate system is set to soft floating, and the flexibility of a total of 6 parameters can be set along the X, Y, Z direction and rotation around X, Y, and Z.

Figure 1 FANUC robot soft float setup

Robot Soft Float Function

3 Example

Example : how to use FANUC robot soft float

in line 2, Use the SOFTFLOAT[1] command to start the soft float function, and in line 5, use the SOFTFLOAT END command to end the soft float function.

Robot Soft Float Function

Example 2: how to use FANUC robot soft floating

In line 2, append the SOFTFLOAT instruction after the straight action statement.

Robot Soft Float Function

SOFTFLOAT[1] STATEMENT EXPLANATION:

SOFTFLOAT[N] THE VALUES RANGE FROM 1 TO 10, AND YOU CAN ONLY SET UP TO 10 GROUPS.

SOFTFLOAT[1]~ SOFTFLOAT[10]  THERE ARE 10 GROUPS IN TOTAL, AND 10 SETS OF SOFT FLOAT PARAMETERS CAN BE SET.

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