Dual Gear Assembly Shaft Insert (Gear 2)

• Watch Part 1

In this video, we will go over the second step in assembling two gears: the shaft insert process. This is part two of our multipart series on gear assembly using force control technology. Building on the fundamentals, we’ll guide you through creating and configuring a force control schedule for inserting the second gear onto the shaft.

We’ll start by reviewing the conditions necessary for a successful shaft insert, including positioning accuracy and chamfer requirements. You’ll learn how to set up the user frame and tool frame, define insertion direction, and configure key parameters such as insert depth, individual differences, and force limits. These settings ensure precise alignment and prevent common issues like jamming or alarms during insertion.

To make the process efficient, we’ll also cover parameter auto tuning, which automatically adjusts force control gains for optimal performance. For those who prefer manual tuning, we’ll explain how to adjust force control gain, master frequency, and individual frequency for better response speed. Additionally, we’ll explore advanced options like velocity adjustment, initial insert force, and orientation correction to improve accuracy and cycle time.

Requirements for Following Along:

• Basic understanding of force control principles
• Familiarity with gear assembly concepts
• Access to FANUC robot programming interface

What You Will Learn:

• How to create and configure a shaft insert schedule
• Best practices for setting insertion parameters (depth, force, velocity)
• How to use parameter auto tune for optimal performance
• Tips for manual tuning and advanced settings like orientation correction

By the end of this video, you’ll have the knowledge to execute a shaft insert with precision and confidence, setting the stage for the final phase search in part three of this series.