
Operation
79
Compliance or Limit Fx, Tx, Fy, Ty, Tz
checkboxes: if checked, the selected axis is compliant, meaning that
the movement tries to keep the forces zero in the selected directions. If not checke d a limit can be set for
the force or torque, that if reached, stops the command.
Generate warning when insertion unsuccessful
: If enabled, a pop-up message (blocking) appears if the
insertion was not successful.
NOTE:
The option is only active when a valid limit has been set at the advanced
screen.
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.
F/T Control
Applications such as polishing, deburring, sanding or grinding may require holding constant force/torque
to a defined direction during movements.
This command alters the trajectory of its child node(s) in order to keep the force/torque values constant
along/about the selected axes.
NOTE:
UR’
s built-in Move commands cannot be used under the
F/T Control
command. To move the robot under the force control, use the
F/T Move
or
F/T Search
command instead.
NOTE:
To cancel any force/torque offset, execute an
F/T Zero
command at
the beginning of the
F/T Control
command and make sure the tool is
not in contact with any object before starting the
F/T Control
,
otherwise the command may not work properly.
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...