OnRobot UR CB3 Series User Manual page 34

OPERATION
: shows the name of the node. It can be edited and saved.
Compliant Axes
Fx, Fy, Fz, Tx, Ty, Tz axis selection. If an axis is enabled (compliant) the movement along that
axis is force and torque controlled. The enabled axis is controlled to keep the set force and
torque value constant.
Coordinate system: The coordinate system used for the movement. It can be set to Base or
Tool.
Force Control
Keep Force: sets the percentage of the force value for the tool to keep during operation.
Press the
At a higher percentage value the tool can follow the object more precisely.
Setting the slider to 0 (OFF position) deactivates the force control.
Keep Torque: sets the percentage of the torque value for the tool to keep during operation.
Press the
At a higher percentage value the tool can follow the object more precisely.
Setting the slider to 0 (OFF position) deactivates the torque control.
Auto checkbox: enables the system to slightly modify the Keep Force and Keep Torque
parameters during operation to minimize the vibration but maintain the required force and
torque value.
By default, the checkboxes are selected.
Force Control Advanced Settings
Pressing the advanced settings icon
tuning the force and torque settings.
P: The force and torque controller can be tuned with this proportional gain parameter. If any
overshoots or vibrations occur, try lowering the gain value (For example: 0.5).
I: The force and torque controller can be tuned with this integral gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
D: The force and torque controller can be tuned with this derivative gain parameter. If any
overshoots or vibrations occur, try lowering the gain value.
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button to test the set value.
button to test the set value.
displays additional options and allows fine-