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85
7.4.4
GRAPH_XYZ
With the command SET;LED_MODE;GRAPH, the mode is switched to graph mode. In this mode, the
current deflection of the X, Y and Z axis is displayed in graphic form. The greater the deflection in x/y
direction, the more LEDs are lit up. The deflection in z direction is shown by a color change from white
to dark blue.
Examples for a possible representation can be found after the breakdown of the individual ranges. The
mode can be used for teaching new positions during pickup, for example. You move to the part,
unlock the Flexi and grip the part. If the robot is not correctly positioned at the part, the SFE deflects.
The robot then uses the LED response to move to the correct position for the part.
• x axis representation as a graph (green)
In the range LIMIT_X_MIN*0.05, LIMIT_X_MAX*0.05 (0%-5%): 0 green LEDs
o
In the range LIMIT_X_MIN*0.66, LIMIT_X_MAX*0.66 (5%-66%): 1 green LEDs
o
o
In the range LIMIT_X_MIN*0.83, LIMIT_X_MAX*0.83 (67%-83%): 2 green LEDs
o
In the range LIMIT_X_MIN, LIMIT_X_MAX (84%-100%): 3 green LEDs
• y axis representation as a graph (red)
o
In the range LIMIT_Y_MIN*0.05, LIMIT_Y_MAX*0.05 (0%-5%): 0 red LEDs
o
In the range LIMIT_Y_MIN*0.66, LIMIT_Y_MAX*0.66 (5%-66%): 1 red LEDs
In the range LIMIT_Y_MIN*0.83, LIMIT_Y_MAX*0.83 (67%-83%): 2 red LEDs
o
o
In the range LIMIT_Y_MIN, LIMIT_Y_MAX (84%-100%): 3 red LEDs
• z axis representation as a graph (various blue shades)
In the range LIMIT_Z_MAX, LIMIT_Z_MIN*0.05 (0%-5%): white
o
o
In the range LIMIT_Z_MAX, LIMIT_Z_MIN*0.66 (5%-66%): light blue
o
In the range LIMIT_Z_MAX, LIMIT_Z_MIN*0.83 (67%-83%): blue
In the range LIMIT_Z_MAX, LIMIT_Z_MIN (84%-100%): dark blue
o
In the following, two examples for deflections and their visualization are shown in graph mode:
Axis
X
Y
Z
27
Deflection of flange plate example 4
en
Range of functions
Current deflection in the range between
+2.49 to 3.00 mm
+2.49 to 3.00 mm
+0.2 to -2.00 mm
7
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