Force - Universal Robots UR5e User Manual

Note: A direction does not consider the orientations of the points.
Next Stacking Position Expression
The robot arm moves along the direction vector while continuously evaluating whether the next
stack position has been reached. When the expression is evaluated to True the special sequence
is executed.
"BeforeStart"
The optional BeforeStart sequence is run just before the operation starts. This can be used to
wait for ready signals.
"AfterEnd"
The optional AfterEnd sequence is run when the operation is finished. This can be used to signal
conveyor motion to start, preparing for the next stack.
Pick/Place Sequence
Like for the Pallet operation (16.7.1), a special program sequence is performed at each stack
position.

16.7.3 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.
Note: if no obstacles are met in an axis where a non-zero force is set, the robot arm attempts to
accelerate along that axis.
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.
CB5
WARNING:
1. Avoid high deceleration just before entering force mode.
2. Avoid high acceleration in force mode, since it decreases
force control accuracy.
3. Avoid movements parallel to compliant axes before entering
force mode.
II-64
16.7 Wizards
Version 5.0.2