8.3 Force Control Part 3 - Centering Function
This video demonstrates how to configure the FANUC CRX collaborative robot’s force control centering function using its integrated sensors. This feature is especially useful for applications where the robot must correct for slight misalignments in part positioning — such as inserting a workpiece into a lathe chuck.
The training begins with the robot picking up the workpiece and moving to the centering start position, typically 1 – 2 mm from the chuck’s surface. Once in position, the Force Centering icon is added to the program timeline, and users access its detail screen to configure key parameters.
The setup includes:
- Sensor Setting: Defaults to the integrated sensor unless an external sensor is connected.
- Force Control Coordinate: Defines the direction of the centering motion. A simple setup option is available for alignment with the robot’s J6 axis.
- Chuck Signals: Users define the I/O signals for chuck closing and status confirmation, along with a wait time after the chuck closes.
- Insertion Length: Specifies the distance the robot should move during the centering operation.
Once all parameters are set, the system performs automatic tuning. During this process, the robot physically moves and applies force to the workpiece multiple times to calibrate the motion. A green check mark confirms successful tuning.
This module equips users with the knowledge to implement force-guided centering operations, improving precision and reliability in automated part loading tasks.
