
Operation
88
Acceleration
: The acceleration and deceleration parameter of the movement.
F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D
:
This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D
available options more than one can be set. In this case, if any of the values reach the set threshold the
stop is triggered. Values equal to zero are neglected.
If the
Use absolute values
option is enabled, then it is not important whether the entered value is positive
or negative (e.g.: |Fz| > = 3), otherwise the sign defines how the threshold is calculated (e.g.: Fz > = 3 or
Fz <= -3)
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 frame
s). 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.
Halt program execution if limit has not been reached
:
If enabled, then the program execution will be
stopped when the target position is reached or was already in collision (so the search is not successful). If
the search is successful, then the program continues. 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.
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...