Command: Force - Universal Robots UR5 User Manual

14.24 Command: Force

Defining the Pattern
When the "Box" pattern is selected, the screen changes to what is shown below.
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
This variable can be manipulated using assignments, and can be used in expres-
sions.
14.24 Command: Force
Force mode allows for compliance and forces in selectable axis in the robot's workspace.
All robot arm movements under a Force command will be in Force mode. When
the robot arm is moving in force mode, it is possible to select one or more axes in
which the robot arm is compliant. Along/around compliant axes the robot arm will
comply with the environment, which means it will automatically adjust 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.
Version 3.4.5
1, the number of points in the pattern.
II-91 CB3