F/T Search - OnRobot RG2-FT User Manual

3.3.6 F/T Search

The F/T Search command is 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 (object found). If the
movement reaches the last waypoint or the last point of the path, the search is not
successful (the object is not found) and a warning is generated.
To operate the F/T Search 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
Search command by using the Structure tab.
Speed: The movement speed while searching for collision. 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.
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NOTE:
To cancel any force/torque offset, execute an F/T Zero command at the
beginning of the F/T Search command and make sure the tool is not in
contact with any object before starting the F/T Search, otherwise the
command may not stop at the given force/torque limit.
Using the URCap Plugin 33
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