ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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Robotiq CN C M achine Tending Kit Instruction M anual
Motion Frame
From the Force Control node, it is possible to choose your feature among:
l
Tool
l
Base
l
Motion Frame
Fig. 5-22: Motion Frame.
The motion frame option allows to apply constant forces and torques along a path. The X axis represents the motion direction, the Z
axis is perpendicular to the X axis and is close to the robot Z axis.
Fig. 5-23: Path example.
Testing a Path
The Test button (see figure Motion Frame. applies user-defined settings of the Force Control node to the sensor, therefore moving
along/ around the corresponding axes, if the control had been enabled for the latter, regardless of other instructions entered before or
after the Force Control node in the robot program.
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