Universal Robots UR10/CB3, Руководство пользователя

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Force mode also supports applying certain torques around predefined axes. The robot arm
attempts to accelerate along that axis, if no obstacles are met in an axis where a non-zero force
is set. Although an axis is selected to be compliant, the robot program still tries to move the
robot along that axis. However, force control assures that the robot arm still approaches the
specified force.
NOTE
If there is a Force node inside an
If
,
ElseIf
or
Loop
, and the
Check
Expression Continuously
option is selected, you can add an
end_force_
mode()
script at the end of the expression to exit force control.
WARNING
1. Avoid high deceleration just before entering force mode.
2. Avoid high acceleration in force mode, since it decreases force control
accuracy.
3. Avoid movements parallel to compliant axes before entering force mode.
Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will use while it is
operating in force mode. The features in the menu are those which have been defined in the
installation (see
1.23.12. Installation
→
Features on page 140 ).
User Manual 193 UR10
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