Using the URCap Plugin
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Gain of force
: The proportional gain parameter of the force control for the
pushing force, and the side forces on compliant axes.
Gain of torque
: The proportional gain parameter of the torque control for the
compliant axes.
Expected speed
: The minimum speed the insertion is expected to progress with. If
this parameter is set, and the insertion is progressing at a slower pace, it is
interrupted and considered unsuccessful. If it is set to zero, this exit criterium is
neglected.
Timeout
: The maximal allowed length of time for the whole insertion function. If it
is set to zero, this exit criterium is neglected.
Generate warning (…):
If enabled then a pop-up message (blocking) appears if
the insertion was not successful.
If disabled, then no pop-up message is shown but the user can handle any possible
errors by the return value of the command. The command updates the
of_return
variable once the command exit. This global variable can be used with the UR’s built
in
If
conditional expressions (for example:
if of_return == 1
then do
something).
F/T Insert Pin Command Return Values
3.3.8
F/T Move
Command
The
F/T Move
command is used together with the
F/T Waypoint
command, to
move the robot along a route, or together with the
F/T Path
to move the robot
along a Path, and stop once the defined force/torque limits are reached
(movement interrupted). In this case a warning can be generated. If the movement
reaches the last waypoint, the move is successful.
