This three-part series demonstrates how to use FANUC Force Control technology to automate a dual gear assembly process with precision, adaptability, and reliability. Using a FANUC CRX collaborative robot, you'll learn how force control enables the robot to react to real-world conditions, compensate for variation, and achieve consistent assembly results that would be difficult to accomplish with conventional position-based programming alone.
Throughout the series, we walk through the complete gear assembly workflow, from the initial gear insertion to shaft insertion and final phase matching. Along the way, you'll learn how to create and optimize force control schedules, configure critical parameters, and apply both automatic and manual tuning techniques to improve performance, reduce cycle time, and minimize assembly errors.
The series covers key force control concepts and functions including:
- Force.Insert for precision gear and shaft insertion
- Force control schedule creation and configuration
- Tool frame and user frame setup for accurate force application
- Insertion depth, force limits, and velocity settings
- Auto tuning and manual tuning techniques
- Force log analysis and performance optimization
- Orientation correction and individual difference compensation
- Phase Search for gear tooth alignment and engagement
- Continuous execution of multiple force control operations
- Integration opportunities with FANUC technologies such as iRVision®
Using practical examples with a FANUC CRX robot and a Schunk three-jaw gripper, you'll see how force control can overcome alignment challenges, prevent jamming, accommodate part variation, and improve overall assembly quality. The series also explores techniques for troubleshooting common issues and optimizing force control parameters for maximum efficiency.
Requirements
- FANUC CRX Series robot
- Integrated or external force sensor
- Robotic gripper suitable for gear handling
- Access to the FANUC robot programming interface
- Basic understanding of robot programming and force control concepts
- Familiarity with gear assembly processes
What You Will Learn
- How to configure and use FANUC Force Control for assembly applications
- How to create and optimize insertion schedules for gears and shafts
- Best practices for setting force, depth, velocity, and alignment parameters
- How to use auto tuning and manual tuning to improve performance
- How to interpret force logs and troubleshoot assembly issues
- Techniques for preventing insertion failures and minimizing cycle time
- How to configure and execute phase search operations for gear alignment
- Methods for combining multiple force control schedules into a seamless assembly process
- Strategies for improving assembly accuracy, consistency, and process reliability
By the end of this series, you'll have a complete understanding of how to apply FANUC Force Control to a dual gear assembly application, from initial insertion through final phase matching. You'll be equipped with the knowledge and practical techniques needed to build more robust, flexible, and efficient robotic assembly processes.
