Using the URCap Plugin
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Save Path
button: Saves the Unsaved Path to the Compute Box.
Rotational movements related to translational movements in Path
recording are limited to 4.5 degrees/mm or less, since a larger ratio
would cause the Robot to replay the path at a very low translational
speed. Rotational movement without translational movement
therefore cannot be recorded as Path.
The maximum error of the replayed Path compared to the original recorded
movement is 1 mm.
This command has no return value.
3.3.10
F/T Search
Command
The
F/T Search
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
(object found). If the movement reaches the last waypoint or the last point of the
Path, the search is not successful (the object is not found) and a warning is
generated.
Make sure that the
F/T Zero
command is used before the
F/T
Search
command is executed and the tool is not in contact with any
object (the force/torque reading is zero).
If the
Use absolute values
option is enabled, then it is not
important whether the entered value is positive or negative (e.g.:
|Fz| > = 3), otherwise the sign defines how the threshold is
calculated (eg.: Fz > = 3 or Fz <= -3)
Speed:
The movement speed while searching for collision. The movement is carried
out in a constant translational speed. If the route or path has sharp changes in the
