OnRobot VGC10, Руководство пользователя, Страница: 73 / 213

Operation
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Gain of force : The proportional gain parameter of the force control for the pushing force, and the side
forces on compliant axes.
Gain of torque : The proportional gain parameter of the torque control for the compliant axes.
NOTE:
High gain values can result vibration and protective stop. Higher mass and
bigger distance can be vibrating more easily.
Timeout : The maximal allowed length of time for the whole insertion function. If it is set to zero, this exit
criterium is neglected.
Expected speed : The minimum speed the insertion is expected to progress with. If this parameter is set,
and the insertion is progressing at a slower pace, it is interrupted and considered unsu ccessful. If it is set
to zero, this exit criterium is neglected.
Compliance or Limit (Fx, Fy, 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.
Generate warning when insertion unsuccessful
:
If enabled then a pop-up message (blocking) appears if
the insertion was not successful.
If disabled, then no pop-up message is shown but the user can handle any possible errors by the return
value of the command.
See return values in the Return Values section.