OnRobot HEX-E QC User Manual page 81

OPERATION
Gain of force: The proportional gain parameter of the force control for the pushing force, and
the side forces on compliant axes.
Gain of torque: The proportional gain parameter of the torque control for the compliant axes.
NOTE:
High gain values can result vibration and protective stop. Higher mass and
bigger distance can be vibrating more easily.
Timeout: The maximal allowed length of time for the whole insertion function. If it is set to
zero, this exit criterium is neglected.
Expected speed: The minimum speed the insertion is expected to progress with. If this
parameter is set, and the insertion is progressing at a slower pace, it is interrupted and
considered unsuccessful. If it is set to zero, this exit criterium is neglected.
Compliance or Limit (Fx, Fy, 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.
Generate warning when insertion unsuccessful: If enabled then a pop-up message
(blocking) appears if the insertion was not successful.
If disabled, then no pop-up message is shown but the user can handle any possible errors by
the return value of the command.
See return values in the
TCP
The command is used to set the current TCP and/or payload for the robot.
TCP
6.5. Return Values section.
81