8.1 - Force Control Part 1 - Push Function
This video introduces the setup process for the FANUC CRX robot’s force-controlled push function, using its integrated sensors. This feature enables the robot to apply a consistent force to a surface, making it ideal for tasks like pressing, inspecting, or fitting components.
The training begins by explaining two methods for implementing force control: using the CRX’s integrated sensors or an external force sensor mounted on the robot’s wrist. While external sensors offer higher sensitivity for precision tasks, this module focuses on the integrated sensor approach.
To begin, users manually guide or jog the robot to the desired push position — typically 1 – 2 mm from the surface. The Force Push icon is then added to the program timeline, and its detail screen is used to configure key parameters:
- Sensor Setting: Defaults to integrated unless an external sensor is connected.
- Push Start Position: Automatically recorded when the icon is added.
- Force Control Coordinate: Defines the direction of the applied force. A simple setup option is available for alignment with the robot’s J6 axis.
- Push Settings: Includes force magnitude and duration.
Once configured, the system performs automatic tuning, where the robot pushes against the surface multiple times to calibrate the motion. A successful tuning is confirmed with a green check mark.
Finally, users run a push test to verify proper operation before executing the full program.
This module equips users with the knowledge to implement force-sensitive tasks using the CRX robot’s built-in capabilities, enhancing automation for applications requiring controlled contact.
