F/T Move - OnRobot RG2-FT User Manual

3.3.5 F/T Move

The F/T Move command can be used together with the F/T Waypoint command, to
move the robot along a route, or together with the F/T Path to move the robot along a
path and stop once the defined force/torque limits are reached (movement interrupted). In
this case a warning can be generated. If the movement reaches the last waypoint, the move
is successful.
To operate the F/T Move command tap on the Add Waypoint button to add an F/T
Waypoint as a child node. More waypoints can be added in the same way. To remove a
waypoint, use the Structure tab Delete button.
Alternatively, F/T Waypoint or F/T Path could be added as a child node of the F/T
Move command by using the Structure tab.
Speed: The movement speed limit while moving. The movement is carried out in a constant
translational speed. If the route or path has sharp changes in the direction, or the
orientation, the actual speed of the robot may be less than specified, but still constant
throughout the route or Path.
Acceleration: The acceleration and deceleration parameter of the movement.
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NOTE:
To cancel any force/torque offset, execute an F/T Zero command at the
beginning of the F/T Move command and make sure the tool is not in
contact with any object before starting the F/T Move, otherwise the
command may not stop at the given force/torque limit.
Using the URCap Plugin 31
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