OnRobot HEX-E QC User Manual page 86

OPERATION
Gain of force: The proportional gain parameter of the force control for the side forces on
compliant axes.
Gain of torque: The proportional gain parameter of the torque control for the compliant axes.
Gain of force (Z): The proportional gain parameter of the force control for the pushing force.
Gain of torque (Z): The proportional gain parameter of the torque control parallel to the
insertion direction.
NOTE:
High gain values can result vibration and protective stop. Higher mass and
bigger distance can be vibrating more easily.
Timeout: The maximal allowed 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.
Pushing force: The force target used for the force control to push the item into the hole.
Overshoot force: If this parameter is set, after the Minimum depth has been reached, a
'bump', an increase in the pushing force is expected (such as closing a snap-fit joint). This
parameter is the additional force on top of Pushing force that the insertion is performed with,
between the minimum and maximum depths.
Compliance or Limit Fx, Tx, Fy, Ty, Tz checkboxes: if checked, the selected axis is compliant,
meaning that the movement tries to keep the forces zero in the selected directions. If not
checked a limit can be set for the force or torque, that if reached, stops the command.
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