OnRobot VGC10, Руководство пользователя, Страница: 78 / 213

Operation
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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.