
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:
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...
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Страница 202: ...Certifications 202...
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