OnRobot HEX-E QC User Manual page 68

OPERATION
Compliant axis Fx, Fy, Fz, Tx, Ty, Tz: The axis selection that needs to be compliant. If an axis
is enabled (compliant) the movement along/about that axis is force/torque controlled
otherwise (non-compliant) position controlled. The enabled axis is controlled to keep the set
force/torque value constant. At least one compliant axis must be selected.
Coordinate system: The coordinate system used both for the movement and for the sensor
reading. It can be set to Base, Tool, Custom (Base), Custom (Tool) (according to the UR's
reference frames). The Custom coordinate systems are calculated from the basis coordinate
system and the given Roll, Pitch and Yaw values. For the Custom (Base) coordinate system, it
is also possible to use the Get TCP orientation button to specify the orientation of the
coordinate system, by the orientation of the current TCP. To test the given orientation, the
Rotate tool to this orientation [HOLD] button can be used.
P gain F: The force controller can be tuned with this proportional gain parameter. If any
overshoots or vibrations occur, try lowering the gain value (e.g.: 0.5).
P gain T: The torque controller can be tuned with this proportional gain parameter. If any
overshoots or vibrations occur, try lowering the gain value (e.g.: 0.5).
Show advanced options: If checked then more options become available:
I gain F: The force controller can be tuned with this integral gain parameter. If any overshoots
or vibrations occur, try lowering the gain value.
I gain T: The torque controller can be tuned with this integral gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
D gain F: The force controller can be tuned with this derivative gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
D gain T: The torque controller can be tuned with this derivative gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
This command has no return value.
Guidelines to PID force/torque controller settings:
68