Universal Robots UR5 with CB2 User Manual page 73

3.4. Programming
Simple: Only one axis will be compliant in force mode. The force along this
axis is adjustable. The desired force will always be applied along the z-axis
of the selected feature. However, for Line features, it is along their y-axis.
Frame: The Frame type allows for more advanced usage. Here, compli-
ance and forces in all six degrees of freedom can be independently se-
lected.
Point: When Point is selected, the task frame has the y-axis pointing from
the robot tcp towards the origo of the selected feature. The distance be-
tween the robot tcp and the origo of the selected feature is required to
be at least 10 mm. Note that the task frame will change at runtime as the
position of the robot tcp changes. The x- and z-axis of the task frame are
dependent on the original orientation of the selected feature.
Motion: Motion means that the task frame will change with the direction
of the TCP motion. The x-axis of the task frame will be the projection of the
tcp movement direction onto the plane spanned by the x- and y-axis of
the selected feature. The y-axis will be perpendicular to the robot motion,
and in the x-y plane of the selected feature. This can be usefull when
deburring along a complex path, where a force is needed perpendicular
to the TCP motion. Note, when the robot is not moving: If force mode is
entered with the robot standing still, there will no compliant axes until the
tcp speed is above zero. If, later on while still in force mode, the robot is
again standing still, the task frame has the same orientation as the last time
the tcp speed was larger than zero.
For the last three types, the actual task frame can be viewed at runtime on the
graphics tab (3.4.27), when the robot is operating in force mode.
Force value selection
A force can be set for both compliant and non-compliant axes, but the effects
are different.
Compliant: The robot will adjust its position to achieve the selected force.
Non-compliant: The robot will follow its trajectory set by the program while
accounting for an external force of the value set here.
For translational parameters, the force is specified in Newtons [N] and for rota-
tional the torque is specified in Newton meters [Nm].
Limits selection
For all axes a limit can be set, but these have different meaning corresponding
to the axes being complian or non-compliant.
Compliant: The limit is the maximum speed the tcp is allowed to attain
along/about the axis. Units are [mm/s] and [deg/s].
Non-compliant: The limit is the maximum deviation from the program tra-
jectory which is allowed before the robot security stops. Units are [mm]
and [deg].
All Rights Reserved
73 UR5