7.9.2. Force
Description Force mode is suited to applications where the actual TCP position along a
predefined axis is not important, but instead a desired force along that axis
is required. For example, if the robot TCP rolls against a curved surface,
pushes or pulls a workpiece.
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.
NOTICE
Using this function at the same time as Conveyor Tracking
and/or Path Offset can lead to program conflict.
•
Do not use this function together with Conveyor
Tracking or Path Offset.
NOTICE
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.
UR16e 254 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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