Universal Robots UR5 User Manual page 175

14.24 Command: Force
Force mode type
The are four different types of force mode each determining the way in which the
selected feature will be interpreted.
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
For translational parameters, the force is specified in Newtons [N] and for rota-
tional the torque is specified in Newton meters [Nm].
Version 3.4.5
• Simple: Only one axis will be compliant in force mode. The force along this
axis is adjustable. The desired force will always be applied along the z-axis of
the selected feature. However, for Line features, it is along their y-axis.
• Frame: The Frame type allows for more advanced usage. Here, compliance
and forces in all six degrees of freedom can be independently selected.
• Point: When Point is selected, the task frame has the y-axis pointing from the
robot TCP towards the origin of the selected feature. The distance between
the 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 orientation 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
movement direction onto the plane spanned by the x- and y-axis of the se-
lected 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 mo-
tion. 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.
• Force or torque value can be set for compliant axes, and robot arm will adjust
its position to achieve the selected force.
• For non-compliant axes robot arm will follow the trajectory set by the pro-
gram.
II-93 CB3