Using the URCap Plugin
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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)
The slower the speed during the searching phase is the better to
work with hard contacts (such as metal surfaces) to avoid
overshoots due to the robot’s and the tool's momentum.
Acceleration.
: The acceleration and deceleration parameter of the movement.
(m/s
2
)
F/T Limit:
This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D
available options more than one can be set. In this case, if any of the values reach
the set threshold the stop is triggered. Values equal to zero are neglected.
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.
Generate warning (…):
If enabled then a pop-up message (blocking) appears once
the target position is reached or was already in collision (so the search is not
successful. If the search is successful, then no warning is displayed.
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 it has been executed. 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 Search Command Return Values
3.3.11
F/T Stack
Command
The
F/T Stack
command tries to search for the stack top and then executes the
user’s place sequence (for example opening the gripper) then exits. It tracks how
many items are stacked that makes easy to handle if the stack is full. It also works
with items that has varying item thickness.
Make sure that the
F/T Zero
command is used before the
F/T
Stack
is executed and the tool is not in contact with any object (the
force/torque reading is zero).
