{"id":112668,"date":"2023-01-17T11:57:04","date_gmt":"2023-01-17T03:57:04","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/touch-stop%e7%9a%84%e4%bd%bf%e7%94%a8%e6%96%b9%e5%bc%8f%e8%88%87%e9%81%8b%e7%94%a8%e6%83%85%e5%a2%83\/"},"modified":"2024-05-27T11:19:58","modified_gmt":"2024-05-27T03:19:58","slug":"how-and-when-to-use-touch-stop","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/how-and-when-to-use-touch-stop\/","title":{"rendered":"How and When to Use Touch Stop"},"content":{"rendered":"<p>Examples are valid for:<\/p>\n<p>TMflow Software version: 1.76.6300 or above.<\/p>\n<p>TM Robot Hardware version: All versions.<\/p>\n<p>Other specific requirements: None<\/p>\n<p>Note that older or newer software versions may have different results.<\/p>\n<hr \/>\n<h2><b>Objective of Touch Stop <\/b><\/h2>\n<p>When the robot moves (relative to the flange and tool) from the initial position to a certain axis (<em>e.g.<\/em>, the z-axis), it normally uses I\/O signals and external force as criteria for stopping.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-1-1.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84530\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-1-1.png\" alt=\"\" width=\"447\" height=\"580\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-1-1.png 447w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-1-1-231x300.png 231w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-1-1-360x467.png 360w\" sizes=\"(max-width: 447px) 100vw, 447px\" \/><\/a><\/p>\n<p>When the robot moves from the initial position using Compliance or Line, carries a tool with tolerance, and presses down for a certain distance, the tool sends an I\/O signal to the robot to have the robot\u2019s point recorded at the time of its release and used as a stop criterion for the Touch Stop node.<\/p>\n<p><span style=\"color: #ff0000;\"><b>General use : Counting the tray height <\/b><\/span><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-2-1.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84538\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-2-1.png\" alt=\"\" width=\"435\" height=\"471\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-2-1.png 435w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-2-1-277x300.png 277w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-2-1-360x390.png 360w\" sizes=\"(max-width: 435px) 100vw, 435px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-3-1.png\"><img loading=\"lazy\" class=\"alignnone wp-image-84556\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-3-1.png\" alt=\"\" width=\"387\" height=\"611\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-3-1.png 419w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-3-1-190x300.png 190w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-3-1-325x512.png 325w\" sizes=\"(max-width: 387px) 100vw, 387px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-4.png\"><img loading=\"lazy\" class=\"alignnone wp-image-84550 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-4.png\" alt=\"\" width=\"372\" height=\"614\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-4.png 372w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-4-182x300.png 182w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-4-310x512.png 310w\" sizes=\"(max-width: 372px) 100vw, 372px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p><b>Motion Setting : Choose<\/b><b>\u00a0<\/b><b>Compliance,<\/b><b>\u00a0<\/b><b>Line, <\/b><b>or Force Sensor<\/b><\/p>\n<p><b>Choose Base : Choose Tool or Current Base<\/b><\/p>\n<p><b>Setting : <\/b><\/p>\n<h2>Moving Along a Single Axis<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-112680\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890.jpg\" alt=\"\" width=\"1354\" height=\"480\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890.jpg 1354w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890-300x106.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890-1024x363.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890-768x272.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/messageImage_1716779559890-360x128.jpg 360w\" sizes=\"(max-width: 1354px) 100vw, 1354px\" \/><\/a><\/p>\n<h2>Teach<\/h2>\n<p>Teach can be set to <strong>Linear<\/strong> or <strong>Rotation<\/strong>. It calculates the distance and rotation angle you have taught.<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-6.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84594\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-6.png\" alt=\"\" width=\"321\" height=\"572\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-6.png 321w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-6-168x300.png 168w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-6-287x512.png 287w\" sizes=\"(max-width: 321px) 100vw, 321px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<h2>Stop Criteria<\/h2>\n<ul>\n<li>Timeout: This determines how much time passes before the robot stops and releases itself from this node.<\/li>\n<li>Resisted: When resistance is detected, the robot stops and releases itself from this node<\/li>\n<li>Digital IO: A digital input signal (<em>e.g.<\/em>, <strong>the suction cup\u2019s IO signal<\/strong>) set as a criterion for the robot to stop and release itself from this node.<\/li>\n<li>Stroke % DIO Detection: When the moving distance exceeds the stroke percentage, a different INT value will be output to Variable for judgement.<\/li>\n<li>Variable: A variable set to receive the value of Stroke % for DIO Detection.<\/li>\n<li>Analog IO: An analog input signal set as a criterion for the robot to stop and releases itself from the node.<\/li>\n<\/ul>\n<h2>Touch Stop\u00a0 &#8211; Line<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-7.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84600\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-7.png\" alt=\"\" width=\"306\" height=\"812\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-7.png 306w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-7-113x300.png 113w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-7-193x512.png 193w\" sizes=\"(max-width: 306px) 100vw, 306px\" \/><\/a><\/p>\n<p><strong>Motion Setting : Choose Compliance, Line, or Force Sensor\u00a0<\/strong><\/p>\n<p><strong>Choose Base : Choose Tool or Current Base<\/strong><\/p>\n<p><strong>Setting :\u00a0<\/strong><\/p>\n<p>Stop Criteria:<\/p>\n<ul>\n<li>Digital IO: A digital input signal set as a criterion for the robot to stop and releases itself from the node.<\/li>\n<li>Analog IO: An analog inputs signal set as a criterion for the robot to stop and releases itself from the node.<\/li>\n<li>Brake Distance: The distance of the robot\u2019s brake. If Distance in the Setting page is set to 100 mm and Brake Distance to 800 mm, then the robot will apply brake to stop after the end effector moves for 80 mm from the initial position.<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #ff0000;\">The difference between Line and Compliance is that the former is used for position control (and so it does not use force resistance as a stop criterion), and Compliance for force control, which leads to soft floating on the part of the end effector.<\/span><\/p>\n<h2>Touch Stop\u00a0 &#8211; Force Sensor<\/h2>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-8.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84606\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-8.png\" alt=\"\" width=\"302\" height=\"999\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-8.png 302w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-8-91x300.png 91w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-8-155x512.png 155w\" sizes=\"(max-width: 302px) 100vw, 302px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-9.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84612\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-9.png\" alt=\"\" width=\"347\" height=\"207\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-9.png 347w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-9-300x179.png 300w\" sizes=\"(max-width: 347px) 100vw, 347px\" \/><\/a><\/p>\n<p><span style=\"color: #ff0000;\"><strong>Only FT Sensors supported by Techman Robot are available.<\/strong><\/span><\/p>\n<h2>Touch Stop\u00a0 &#8211; Force Sensor (Record Stopping Position on Point )<\/h2>\n<p>&nbsp;<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-10.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84618\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-10.png\" alt=\"\" width=\"562\" height=\"527\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-10.png 562w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-10-300x281.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-10-360x338.png 360w\" sizes=\"(max-width: 562px) 100vw, 562px\" \/><\/a><\/p>\n<p><strong>If the stop criterion is completed or met, the point will be recorded (see the figure above for an example) <\/strong><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-11.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-84624\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-11.png\" alt=\"\" width=\"709\" height=\"378\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-11.png 709w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-11-300x160.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/4-11-360x192.png 360w\" sizes=\"(max-width: 709px) 100vw, 709px\" \/><\/a><\/p>\n<p><strong>In this case, the point from which the robot releases itself can be sent.<\/strong><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for: TMflow Software version: 1.76.6300 or above. TM Robot Hardware version: All versions. Other specific requirements: None Note that older or newer software versions may have different results. Objective of Touch Stop When the robot moves (relative to the flange and tool) from the initial position to a certain axis (e.g., the [&hellip;]<\/p>\n","protected":false},"author":82,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4179],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>How and When to Use Touch Stop | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"How and When to Use Touch Stop | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for: TMflow Software version: 1.76.6300 or above. TM Robot Hardware version: All versions. 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