13.23 Command: Force
a workpiece. Force mode also supports applying certain torques around predefined
axes. Note that if no obstacles are met in an axis where a non-zero force is set, the robot
arm will try to accelerate along/about that axis.
Although an axis has been selected to be compliant, the robot program will still try to
move the robot along/around that axis. However, the force control assures that the
robot arm will still approach the specified force.
WARNING:
If the force function is used incorrectly, it can produce a force of more
than 150N. The programmed force shall be taken into consideration
during risk assessment.
Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will use
while it is operating in force mode. The features in the menu are those which have
been defined in the installation, see 12.12.
Force mode type
The are four different types of force mode each determining the way in which the
selected feature will be interpreted.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-73 CB3
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