Command Tab, Force - Universal Robots UR5 with CB2 User Manual

3.4.23 Program
Force mode allows for compliance and forces in selectable axis in the robots
workspace. All robot movements under a Force command will be in Force
mode. When the robot is moving in force mode, it is possible to select one
or more axes in which the robot is compliant. Along/around compliant axes the
robot will comply with the environment, which means it will automatically adjust
its position in order to achieve the desired force. It is also is possible to make the
robot itself apply a force to its environment, e.g. a workpiece.
Force mode is suited for applications where the actual tcp position along
a predefined axis is not important, but in stead a desired force along that axis
is required. For example if the robot tcp should roll against a curved surface,
or when pushing or pulling a workpiece. Force mode also supports applying
certain torques around predefined axes. Note that if no obstacles are met in an
axis where a non-zero force is set, the robot will try to accelerate along/about
that axis.
Although an axis has been selected to be compliant, the robot program will
still try to move the robot along/around that axis. However, the force control
assures that the robot will still approach the specified force.
Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will
use while it is operating in force mode. The features in the menu are those which
have been defined in the installation, see 3.3.11.
Force mode type
The are four different types of force mode each determining the way in which
the selected feature will be interpreted.
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Command Tab, Force

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3.4. Programming
UR5