OnRobot HEX-E QC User Manual page 94

OPERATION
To operate the
F/T Search
as a child node. More waypoints can be added in the same way. To remove a
Waypoint
waypoint, use the Structure tab Delete button.
Alternatively,
F/T Waypoint
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.
NOTE:
Overshooting can occur during search, especially with hard contacts (e.g.
metal surfaces). To limit overshoots you should lower the speed.
Acceleration: The acceleration and deceleration parameter of the movement.
F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D: This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz,
F3D, T3D available options more than one can be set. In this case, if any of the values reach
the set threshold the stop is triggered. Values equal to zero are neglected.
If the Use absolute values option is enabled, then it is not important whether the entered
value is positive or negative (e.g.: |Fz| > = 3), otherwise the sign defines how the threshold is
calculated (e.g.: Fz > = 3 or Fz <= -3)
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
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command tap on the Add Waypoint button to add an
or could be added as a child node of the
F/T Path
F/T
F/T Search