Universal Robots UR10/CB3 User Manual page 201

Force mode also supports applying certain torques around predefined axes. The robot arm
attempts to accelerate along that axis, if no obstacles are met in an axis where a non-zero force
is set. Although an axis is selected to be compliant, the robot program still tries to move the
robot along that axis. However, force control assures that the robot arm still approaches the
specified force.
NOTE
If there is a Force node inside an If, ElseIf or Loop, and the Check
Expression Continuously option is selected, you can add an end_force_
mode() script at the end of the expression to exit force control.
WARNING
1. Avoid high deceleration just before entering force mode.
2. Avoid high acceleration in force mode, since it decreases force control
accuracy.
3. Avoid movements parallel to compliant axes before entering force mode.
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
(see 1.23.12. Installation → Features on
installation
User Manual
page 140).
193 UR10