OnRobot VGC10, Руководство пользователя, Страница: 79 / 213

Operation
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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.