Using the URCap Plugin
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The
Snap to axes
button (
mark E
) rotates the axes of the tool coordinate system to
align with the closest axes of the base coordinate system, disregarding negative or
positive directions. This allows the user to set the tool to face precisely
horizontally, or vertically, after guiding by hand.
3.3
OnRobot URCap Commands
3.3.1
F/T Center
Command
It moves the robot along the given axis until it finds an obstacle (section A). After
the collision, it moves to the opposite direction until another collision is reached
(section B). After that the robot calculates the middle of the two boundary points
and moves to that point (section C).
Make sure that the
F/T Zero
command is used before the
F/T
Center
is executed and the tool is not in contact with any object
(the force/torque reading is zero).
Axis:
Defines whether a translational movement will be carried out along the X, Y
or Z axis, or a rotational movement (RX, RY or RZ). Only one axis can be selected.
Search distance:
The distance from the starting point how far the command can
move the robot (in both directions). The value can be given in meter, centimeter,
millimeter, inch or in foot.
Make sure that it is big enough, otherwise it will not find the right
center point.
Force/torque limit:
This is the detection limit. The set axis defines the available
force/torque values that can be used as a limit.
