
Operation
77
F/T Insert Part
The
F/T Insert Part
command can be used for precision fitting an object into a hole.
NOTE:
To cancel any force/torque offset, execute an
F/T Zero
command at
the beginning of the
F/T Insert Part
command and make sure the
tool is not in contact with any object before starting the
F/T Insert
Part
, otherwise the command may not stop at the given force/torque
limit.
If the
Set part TCP
checkbox is checked the TCP will be set at the further end of the part. It requires the
following two parameters to be given:
Part length (L)
:
the distance between the center point of the fingertip sensors and the center point of the
item to be inserted.
Part angle (α)
:
the angle between the +Y axis of the fingertip sensor and the insertion direction of
the item to be inserted.
Pushing force
:
the pushing force can be selected:
:
sets the pushing force to be 3N.
:
sets the pushing force to be 6N.
:
sets the pushing force to be 12N.
Min depth
: The minimum distance required to consider the insertion successful, from the starting po int.
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...
Страница 204: ...Certifications 204...
Страница 205: ...Certifications 205...