19.9.2. Force
Description 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. The robot
arm attempts to accelerate along that axis, if no obstacles are met in an axis where a
non-zero force is set. Although an axis is selected to be compliant, the robot program
still tries to move the robot along that axis. However, force control assures that the
robot arm still approaches the specified force.
NOTICE
Using this function at the same time as Conveyor Tracking and/or
Path Offset can lead to program conflict.
•
Do not use this function together with Conveyor Tracking or
Path Offset.
NOTICE
If there is a Force node inside an If, ElseIf or Loop, and the
Check Expression Continuously option is selected, you can
add an end_force_mode() script at the end of the expression to
exit force control.
UR10e 254 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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