Force mode type The types of force mode, listed below, determine how the selected feature is
interpreted.
•
Simple: Only one axis will be compliant in force mode. The force along this axis
is adjustable. The desired force will always be applied along the z-axis of the
selected feature. However, for Line features, it is along their y-axis.
•
Frame: The Frame type allows for more advanced usage. Here, compliance and
forces in all six degrees of freedom can be independently selected.
•
Point: When Point is selected, the task frame has the y-axis pointing from the
robot TCP towards the origin of the selected feature. The distance between the
robot TCP and the origin of the selected feature is required to be at least 10 mm.
The task frame changes at runtime as the position of the robot TCP changes.
The x- and z-axis of the task frame are dependent on the original orientation of
the selected feature.
•
Motion: Motion means that the task frame will change with the direction of the
TCP motion. The x-axis of the task frame will be the projection of the TCP
movement direction onto the plane spanned by the x- and y-axis of the selected
feature. The y-axis will be perpendicular to the robot arm’s motion, and in the x-y
plane of the selected feature. This can be useful when de-burring along a
complex path, where a force is needed perpendicular to the TCP motion.
When the robot arm is not moving: If force mode is entered with the robot arm
standing still, there will be no compliant axes until the TCP speed is above zero.
If later, while still in force mode, the robot arm is again standing still, the task
frame has the same orientation as the last time the TCP speed was larger than
zero.
For the last three types, the actual task frame can be viewed at runtime on the graphics
tab (see ), when the robot is operating in force mode.
Force value
selection
•
Force or torque value can be set for compliant axes, and robot arm adjusts its
position to achieve the selected force.
•
For non-compliant axes robot arm will follow the trajectory set by the program.
For translational parameters, the force is specified in Newtons [N] and for rotational the
torque is specified in Newton meters [Nm].
NOTICE
You must do the following:
•
Use get_tcp_force() script function in separate thread, to
read actual force and torque.
•
Correct wrench vector, if actual force and/or torque is lower
than requested.
Speed limits Maximum Cartesian speed can be set for compliant axes. The robot moves at this
speed in force control, as long as it does not come into contact with an object.
UR10e 256 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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