14.26 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.
14.26 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.
CB3 II-104 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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