OnRobot VGC10, Руководство пользователя, Страница: 80 / 213

Operation
80
Compliant axis Fx, Fy, Fz, Tx, Ty, Tz : The axis selection that needs to be compliant. If an axis is enabled
(compliant) the movement along/about that axis is force/torque controlled otherwise (non -compliant)
position controlled. The enabled axis is controlled to keep the set force/torque value constant. At least
one compliant axis must be selected.
Coordinate system : The coordinate system used both for the movement and for the sensor reading. It
can be set to Base, Tool, Custom (Base), Custom (Tool) (according to the UR’s reference frames). The
Custom coordinate systems are calculated from the basis coordinate system and the given Roll, Pitch and
Yaw values. For the Custom (Base) coordinate system, it is also possible to use the
Get TCP orientation
button to specify the orientation of the coordinate system, by the orientation of the current TCP. To test
the given orientation, the
Rotate tool to this orientation [HOLD] button can be used.
P gain F : The force controller can be tuned with this proportional gain parameter. If any overshoots or
vibrations occur, try lowering the gain value (e.g.: 0.5).
P gain T : The torque controller can be tuned with this proportional gain parameter. If any overshoots or
vibrations occur, try lowering the gain value (e.g.: 0.5).
Show advanced options If checked then more options become available: