
Operation
58
HEX-E/H QC
F/T Control
Applications such as polishing, deburring, sanding or grinding may require holding constant force/torque
to a defined direction during movements.
This command alters the trajectory of its child node(s) in order to keep the force/torque values constant
along/about the selected axes.
NOTE:
UR’
s built-in Move commands cannot be used under the
F/T Control
command. To move the robot under the force control, use the
F/T Move
or
F/T Search
command instead.
NOTE:
To cancel any force/torque offset, execute an
F/T Zero
command at
the beginning of the
F/T Control
command and make sure the tool is
not in contact with any object before starting the
F/T Control
,
otherwise the command may not work properly.
Compliant axis Fx, Fy, Fz, Tx, Ty, Tz
: The axis selection that needs to be compliant. If an axis is enabled
(compliant) the movement along/about that axis is force/torque controlled otherwise (non -compliant)
position controlled. The enabled axis is controlled to keep the set force/torque value constant. At least
one compliant axis must be selected.
Coordinate system
: The coordinate system used both for the movement and for the sensor reading. It
can be set to Base, Tool, Custom (Base), Custom (Tool)
(according to the UR’s reference frames). The
Содержание VGC10
Страница 1: ...USER MANUAL FOR UR ROBOTS ORIGINAL INSTRUCTION EN v1 05...
Страница 28: ...Installation 28 5 Initialize the robot...
Страница 152: ...Hardware Specification 152 RG2 FT GrippingSpeedGraph GripperWorkingRange The dimensionsare in millimeters...
Страница 156: ...Hardware Specification 156 RG2 GrippingSpeedGraph RG2 Work Range...
Страница 159: ...Hardware Specification 159 RG6 GrippingSpeedGraph RG6 Work Range...
Страница 185: ...Hardware Specification 185 Gecko All dimensionsare in mm and inches...
Страница 186: ...Hardware Specification 186 RG2 FT All dimensionsare in mm and inches...
Страница 187: ...Hardware Specification 187 RG2 All dimensionsare in mm and inches...
Страница 188: ...Hardware Specification 188 RG6 All dimensionsare in mm and inches...
Страница 189: ...Hardware Specification 189 VG10 All dimensionsare in mm and inches...
Страница 190: ...Hardware Specification 190 All dimensionsare in mm and inches...
Страница 191: ...Hardware Specification 191 VGC10 All dimensionsare in mm and inches...
Страница 192: ...Hardware Specification 192 All dimensionsare in mm and inches...
Страница 193: ...Hardware Specification 193 Quick Changer Tool side All dimensionsare in mm and inches...
Страница 200: ...Certifications 200 10 Certifications...
Страница 201: ...Certifications 201...
Страница 202: ...Certifications 202...
Страница 203: ...Certifications 203...
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Страница 205: ...Certifications 205...