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.
1.24.25. Command: Force
NOTE
Using this function at the same time as Conveyor Tracking can lead to program
conflict.
• Do not use this function together with Conveyor Tracking.
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.
UR10 192 User Manual
Copyright © 2009–2020 by UniversalRobotsA/S. All rights reserved.
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