Universal Robots UR16e

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.
UR16e 256 User Manual
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