OnRobot HEX-E QC - Page 93

Start Path Recording: Starts recording a Path by automatically enabling the Hand Guide
function.
Stop Path Recording: Stops the Hand Guide function and stores the recording to the memory.
It does not permanently save the Path.
Move to Path Starting Point [HOLD]: Moves the Tool to the starting position of the Path, it can
only be used if the path is not relative.
Start Path Replay: Replays the Path, even if it is not saved, only stored in the memory.
Stop Path Replay: Stops replaying the Path.
Save Path: Saves the Unsaved Path to the Compute Box.
NOTE:
The robot speed must always be 100%, replaying at lower speed can create a
significant deviation from the recorded trajectory.
NOTE:
Rotational movements related to translational movements in Path recording are
limited to 2.8 degrees/mm or less, since a larger ratio would cause the Robot
to replay the path at a very low translational speed. Rotational movement
without translational movement therefore cannot be recorded as Path.
NOTE:
The maximum error of the replayed Path compared to the original recorded
movement can be up to 1 mm.
This command has no return value.
F/T Search
The F/T Search command is used together with the F/T Waypoint command, to move the
robot along a route, or together with the F/T Path to move the robot along a Path and stop
once the
defined force/torque limits are reached (object found). If the movement reaches the
last waypoint or the last point of the path, the search is not successful (the object is not found)
and a warning is generated.
NOTE:
To cancel any force/torque oset, execute an F/T Zero at the beginning of the
F/T Search command and make sure the tool is not in contact with any object
before starting the F/T Search, otherwise the command may not stop at the
given force/torque limit.
OPERATION
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