Universal Robots UR3/CB3 User Manual page 184

For the last three types, the actual task frame can be viewed at runtime on the graphics
tab (14.29), when the robot is operating in force mode.
Force value selection
A force can be set for both compliant and non-compliant axes, but the effects are dif-
ferent.
For translational parameters, the force is specified in Newtons [N] and for rotational
the torque is specified in Newton meters [Nm].
Limits selection
For all axes a limit can be set, but these have different meanings corresponding to the
axes being compliant or non-compliant.
Test force settings
The on/off button, labeled "Test", toggles the behavior of the Freedrive button on the
back of the Teach Pendant from normal Freedrive mode to testing the force command.
CB3
robot TCP and the origin of the selected feature is required to be at least 10 mm.
Note that the task frame will change at runtime as the position of the robot TCP
changes. The x- and z-axis of the task frame are dependent on the original orien-
tation of the selected feature.
• Motion: Motion means that the task frame will change with the direction of the
TCP motion. The x-axis of the task frame will be the projection of the TCP move-
ment direction onto the plane spanned by the x- and y-axis of the selected feature.
The y-axis will be perpendicular to the robot arm's motion, and in the x-y plane
of the selected feature. This can be useful when deburring along a complex path,
where a force is needed perpendicular to the TCP motion. Note, when the robot
arm is not moving: If force mode is entered with the robot arm standing still,
there will be no compliant axes until the TCP speed is above zero. If later, while
still in force mode, the robot arm is again standing still, the task frame has the
same orientation as the last time the TCP speed was larger than zero.
• Compliant: The robot arm will adjust its position to achieve the selected force.
• Non-compliant: The robot arm will follow its trajectory set by the program while
accounting for an external force of the value set here.
• Compliant: The limit is the maximum speed the TCP is allowed to attain along/about
the axis. Units are [mm/s] and [deg/s].
• Non-compliant: The limit is the maximum deviation from the program trajectory
which is allowed before the robot protective stops. Units are [mm] and [deg].
II-100
14.24 Command: Force
Version 3.3.3