Surface Finishing
Polish
Primitive Description and Usage
Description: This primitive provides high-accuracy hybrid motion/force control along user-specified trajectories. You can use the trajectory edited in the Trajectory Editor, and add entry and exit trajectories on top of the existing trajectory to smooth transition and reduce impact.
Example Usage: Use this primitive for flat or curved surface polishing and sanding. It can also be used for deburring.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
|---|---|---|---|---|
trajFileName* |
Trajectory file name |
FILE |
none |
[.traj] |
targetTolerLevel |
Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check. |
INT |
none |
0 ∈ [0 … 25] |
forceCoord |
Reference coordinate system for force control direction |
COORD |
m-deg |
0 0 0 0 0 0 TCP ONLINE ∈ [world* tcp_start* tcp*] |
forceAxis |
Activated axes of force control coordinate system to apply force or torque |
VEC_6i |
none |
0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 0 0 0] |
ILCEnableType |
The ILC enabling type: Disable, Enable, Training, Restart |
TYPE |
none |
ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart] |
ILCFileName |
Name of the ILC file |
STRING |
none |
ilcFile |
enableForceAutoRot |
Flag to indicate if the automatic rotation of force control axis is enabled. If enabled, the force control axis will always be perpendicular to the path forward direction of the trajectory and the [forceRotAxis]. The parameter [forceAxis] should be set to [0, 1, 0, 0, 0, 0]. |
BOOL |
none |
0 ∈ [0 / 1] |
forceRotAxis |
Rotation axis of the force control coordinate system |
VEC_3d |
none |
0 0 -1 ∈ [-1 -1 -1 … 1 1 1] |
enableTrajOverlay |
Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory. |
BOOL |
none |
0 ∈ [0 / 1] |
overlaidTrajType |
Overlaid trajectory type. 0 means sine wave; 1 means helix wave. |
INT |
none |
0 ∈ [0 … 1] |
amplitude |
Amplitude of the overlaid sine wave or helix wave trajectory |
DOUBLE |
m |
0.02 ∈ [0 … 0.2] |
pitch |
Pitch of the helix wave trajectory |
DOUBLE |
m |
0.06 ∈ [0 … 0.2] |
lineSpace |
Wavelength of the overlaid sine wave or helix wave trajectory |
DOUBLE |
m |
0.04 ∈ [0 … 0.2] |
enableTransLimit |
Enable TCP displacement limit in the translation (force control) direction after performing contact |
BOOL |
none |
0 ∈ [0 / 1] |
maxTransDisp |
Maximum TCP displacement in the translation (force control) direction after performing contact |
DOUBLE |
m |
0.5 ∈ [0.0 … 1.0] |
minTransDisp |
Minimum TCP displacement in the translation (force control) direction after performing contact |
DOUBLE |
m |
-0.5 ∈ [-1.0 … 0.0] |
stiffScale |
Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion. |
VEC_6d |
none |
1.0 1.0 1.0 0.0 0.0 0.0 ∈ [0.01 0.01 0.01 0.0 0.0 0.0 … 1.0 1.0 1.0 0.0 0.0 0.0] |
enableMaxWrench |
Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz |
VEC_6i |
none |
0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 0 0 0] |
maxContactWrench |
Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz |
VEC_6d |
N |
150.0 150.0 150.0 0.0 0.0 0.0 ∈ [5.0 5.0 5.0 0.0 0.0 0.0 … 150.0 150.0 150.0 0.0 0.0 0.0] |
maxVelForceDir |
Maximum movement velocity along force control direction |
VEC_3d |
m/s |
2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0] |
*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.
*Coordinate System Definition
Coordinate |
Definition |
Value Format |
|---|---|---|
world |
WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base |
X Y Z Rx Ry Rz WORLD WORLD_ORIGIN |
work |
WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system |
X Y Z Rx Ry Rz WORK WorkCoordName |
tcp |
TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange |
X Y Z Rx Ry Rz TCP ONLINE |
tcp_start |
The fixed coordinate system which is located at the initial TCP pose of the primitive |
X Y Z Rx Ry Rz TCP START |
traj_start |
The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ START |
traj_goal |
The offset of a waypoint relative to the target TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ GOAL |
traj_prev |
The offset of a waypoint relative to the previous waypoint in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT |
You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
|---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
reachedTarget |
Flag to indicate if the robot has reached the target |
BOOL |
none |
waypointIndex |
Index of the current waypoint the robot just passed. 0 means the initial pose. |
INT |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
|---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
|---|---|---|
reachedTarget |
= |
1 |
Grind
Primitive Description and Usage
Description: This primitive is similar to Polish but with higher motion stiffness. You can use the trajectory edited in the Trajectory Editor, add entry and exit trajectories on top of the existing trajectory to smooth transition and reduce impact, and set the TCP displacement in the force control direction to prevent the trajectory from deviating from the desired area.
Example Usage: Use this primitive for heavy-duty grinding tasks. The typical tools that work with this primitive are angle and straight electric grinders.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
|---|---|---|---|---|
trajFileName* |
Trajectory file name |
FILE |
none |
[.traj] |
targetTolerLevel |
Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check. |
INT |
none |
0 ∈ [0 … 25] |
forceCoord |
Reference coordinate system for force control direction |
COORD |
m-deg |
0 0 0 0 0 0 TCP ONLINE ∈ [world* tcp_start* tcp*] |
forceAxis |
Activated axes of force control coordinate system to apply force or torque |
VEC_6i |
none |
0 0 1 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 0 0 0] |
ILCEnableType |
The ILC enabling type: Disable, Enable, Training, Restart |
TYPE |
none |
ILC_Disable ∈ [ILC_Disable ILC_Enable ILC_Training ILC_Restart] |
ILCFileName |
Name of the ILC file |
STRING |
none |
ilcFile |
enableForceAutoRot |
Flag to indicate if the automatic rotation of force control axis is enabled. If enabled, the force control axis will always be perpendicular to the path forward direction of the trajectory and the [forceRotAxis]. The parameter [forceAxis] should be set to [0, 1, 0, 0, 0, 0]. |
BOOL |
none |
0 ∈ [0 / 1] |
forceRotAxis |
Rotation axis of the force control coordinate system |
VEC_3d |
none |
0 0 -1 ∈ [-1 -1 -1 … 1 1 1] |
enableTrajOverlay |
Enable the trajectory overlay function to overlay the wave trajectory on the taught trajectory. |
BOOL |
none |
0 ∈ [0 / 1] |
overlaidTrajType |
Overlaid trajectory type. 0 means sine wave; 1 means helix wave. |
INT |
none |
0 ∈ [0 … 1] |
amplitude |
Amplitude of the overlaid sine wave or helix wave trajectory |
DOUBLE |
m |
0.02 ∈ [0 … 0.2] |
pitch |
Pitch of the helix wave trajectory |
DOUBLE |
m |
0.06 ∈ [0 … 0.2] |
lineSpace |
Wavelength of the overlaid sine wave or helix wave trajectory |
DOUBLE |
m |
0.04 ∈ [0 … 0.2] |
enableTransLimit |
Enable TCP displacement limit in the translation (force control) direction after performing contact |
BOOL |
none |
0 ∈ [0 / 1] |
maxTransDisp |
Maximum TCP displacement in the translation (force control) direction after performing contact |
DOUBLE |
m |
0.5 ∈ [0.0 … 1.0] |
minTransDisp |
Minimum TCP displacement in the translation (force control) direction after performing contact |
DOUBLE |
m |
-0.5 ∈ [-1.0 … 0.0] |
stiffScale |
Robot stiffness scale during motion. The lower the stiffness scale, the more compliant the motion. |
VEC_6d |
none |
1.0 1.0 1.0 0.0 0.0 0.0 ∈ [0.01 0.01 0.01 0.00 0.00 0.00 … 1.0 1.0 1.0 0.0 0.0 0.0] |
enableMaxWrench |
Flag to indicate if maximum contact wrench is enabled in each Cartesian direction: X, Y, Z, Rx, Ry, Rz |
VEC_6i |
none |
0 0 0 0 0 0 ∈ [0 0 0 0 0 0 … 1 1 1 0 0 0] |
maxContactWrench |
Maximum contact wrench allowed for static collision along Fx, Fy, Fz, Mx, My, Mz |
VEC_6d |
N |
150.0 150.0 150.0 0.0 0.0 0.0 ∈ [5.0 5.0 5.0 0.0 0.0 0.0 … 150.0 150.0 150.0 0.0 0.0 0.0] |
maxVelForceDir |
Maximum movement velocity along force control direction |
VEC_3d |
m/s |
2.0 2.0 2.0 ∈ [0.005 0.005 0.005 … 2.0 2.0 2.0] |
*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.
*Coordinate System Definition
Coordinate |
Definition |
Value Format |
|---|---|---|
world |
WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base |
X Y Z Rx Ry Rz WORLD WORLD_ORIGIN |
work |
WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system |
X Y Z Rx Ry Rz WORK WorkCoordName |
tcp |
TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange |
X Y Z Rx Ry Rz TCP ONLINE |
tcp_start |
The fixed coordinate system which is located at the initial TCP pose of the primitive |
X Y Z Rx Ry Rz TCP START |
traj_start |
The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ START |
traj_goal |
The offset of a waypoint relative to the target TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ GOAL |
traj_prev |
The offset of a waypoint relative to the previous waypoint in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT |
You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
|---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
reachedTarget |
Flag to indicate if the robot has reached the target |
BOOL |
none |
waypointIndex |
Index of the current waypoint the robot just passed. 0 means the initial pose. |
INT |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
|---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
|---|---|---|
reachedTarget |
= |
1 |