OnRobot RG2-FT - Page 87

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 6.5. 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 oset, 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.
OPERATION
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