This video introduces the setup of the force-controlled phase matching function on the FANUC CRX collaborative robot using its integrated sensors. This feature is especially useful for precision assembly tasks, such as aligning and inserting gears, where controlled force and accurate positioning are critical.

The module begins by explaining the two available methods for 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 complex applications, this tutorial focuses on the integrated sensor approach.

To begin, the robot picks the gear and is manually guided to the phase match position, typically 1 – 2 mm from the mating surface. The Force Phase Match icon is added to the program timeline, and users configure key parameters:

Sensor Setting: Defaults to integrated unless an external sensor is connected.
Start Position: Automatically recorded when the icon is added.
Force Control Coordinate: Defines the direction of motion during phase matching. Users can create a new coordinate based on the tooling and gear position.
Insertion Depth: Specifies how far the gear should be inserted.

Once configured, the system performs automatic tuning, where the robot executes several test motions to calibrate the force control. A successful tuning is confirmed with a green check mark.

Finally, users run a phase matching test to verify proper alignment and force application before executing the full program.

This module equips users with the skills to implement precision gear assembly using the CRX robot’s built-in force control capabilities, enhancing automation in mechanical and manufacturing environments.

8.2 - Force Control Part 2 - Phase Match