
Operation
78
Max depth
: The maximum distance the insertion can reach, from the starting point.
Show advanced parameters
checkbox: If checked, more options become available:
Gain of force
: The proportional gain parameter of the force control for the side forces on compliant axes.
Gain of torque
: The proportional gain parameter of the torque control for the compliant axes.
Gain of force (Z)
: The proportional gain parameter of the force control for the pushing force.
Gain of torque (Z)
: The proportional gain parameter of the torque control parallel to the insertion
direction.
NOTE:
High gain values can result vibration and protective stop. Higher mass and
bigger distance can be vibrating more easily.
Timeout
:
The maximal allowed 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 unsuccessful. If it is set
to zero, this exit criterium is neglected.
Pushing force
:
The force target used for the force control to push the item into the hole.
Overshoot force
: If this para
meter is set, after the Minimum depth has been reached, a ‘bump’, an
increase in the pushing force is expected (such as closing a snap-fit joint). This parameter is the additional
force on top of Pushing force that the insertion is performed with, between the minimum and maximum
depths.
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...