Using the URCap Plugin
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Make sure that the
F/T Zero
command is used before the
F/T
Move
command is executed and the tool is not in contact with any
object (the force/torque reading is zero).
Speed:
The movement speed limit while moving. The movement is carried out in a
constant translational speed. If the route or path has sharp changes in the
direction, or the orientation, the actual speed of the robot may be less than
specified, but still constant throughout the route or Path. (mm/s)
Acceleration.
: The acceleration and deceleration parameter of the movement.
(m/s
2
)
Coordinate system:
The coordinate system used both for the movement and for
the sensor reading. It can be set to
Base, Custom (Base), Tool, Custom
(Tool)
(according to the UR’s reference frames). The Custom coordinate systems
are calculated from the basis coordinate system and the given
Roll
,
Pitch
and
Yaw
values. For the Custom (Base) coordinate system, it is possible to use the
Get
current TCP pose
button to specify the orientation of the coordinate system, by
the orientation of the current TCP. To demonstrate the given orientation, the
Rotate tool to this orientation [HOLD]
button can be used.
Show advanced parameters
checkbox: If checked then more options become
available:
