
Operation
73
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.
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...
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