14.25 Command: Force
A Box pattern uses three vectors to define the side of the box. These three vectors are given as
four points, where the first vector goes from point one to point two, the second vector goes from
point two to point three, and the third vector goes from point three to point four. Each vector is
divided by the interval count numbers. A specific position in the pattern is calculated by simply
adding the interval vectors proportionally.
The Line and Square patterns work similarly.
A counter variable is used while traversing the positions of the pattern. The name of the variable
can be seen on the Pattern command screen. The variable cycles through the numbers from 0
to X ∗ Y ∗ Z − 1, the number of points in the pattern. This variable can be manipulated using
assignments, and can be used in expressions.
14.25 Command: Force
In the robot workspace Force mode allows for compliance and force in selectable axes. All robot
arm movements under a Force command are in Force mode. When the robot arm is moving in
Force mode, it is possible to select one or more axes there the robot arm is compliant. The
robot arm complies with the environment along a compliant axes. This means the robot arm
automatically adjusts its position in order to achieve the desired force. It is also possible to
make the robot arm itself apply a force to its environment, e.g. a workpiece.
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.
Note: if no obstacles are met in an axis where a non-zero force is set, the robot arm attempts to
accelerate along that axis.
Although an axis is selected to be compliant, the robot program still tries to move the robot
Version 3.11
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II-93 e-Series
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