Hex-Force Control - OnRobot UR CB3 Series User Manual

OPERATION
Generate warning when insertion unsuccessful: If enabled, a pop-up message (blocking)
appears if the insertion was not successful.
NOTE:
The option is only active when a valid limit has been set at the advanced
screen.
If disabled, then no pop-up message is shown.

6.1.1.3. HEX-Force Control

Applications such as deburring, sanding or grinding may require holding constant force/
torque to a defined direction during movements.
The
HEX-Force Control
force and torque values constant along the selected axis. The
does not control forces in the direction that the tool is moving using the
commands.
HEX-Search
The following commands can be used as child nodes:
•
HEX-Search
•
Trajectory
NOTE:
To cancel any force or torque offset, execute a
beginning of the
command alters the trajectory of its child nodes in order to keep the
HEX-Force Control
HEX-Force Control
Trajectory
command at the
HEX-Zero
command.
command
, and the
33