ROBOTIQ CNC Machine Tending Kit Instruction Manual page 67

Message:
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Solution:
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The speed setting of the robot is lower than 50%: The robot's speed setting should be greater than 50%. Modify the speed set-
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ting in the robot program using the slider.
Message:
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Solution:
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If the Freedrive button is pressed: The ActiveDrive mode cannot be used when the Free Drive mode is ON. Make sure you
are not pressing on the teach pendant's Teach button when trying to use the ActiveDrive toolbar.
5.5.4. Using Force and Torque Values
Force Torque Sensor functions are made available in the Universal Robots functions drop-down menu.
The rq_zero_sensor() function can be called at any point in a robot program to zero the force and torque values of the Force Torque
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Sensor.
The get_sensor_Fx(), get_sensor_Fy(), get_sensor_Fz(), get_sensor_Mx(), get_sensor_My(), get_sensor_Mz() functions allow the user
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to assign the sensor values to any variable.
The get_applied_tcp_force(<index>) function returns the current wrench (force and torque vector) value currently applied at the tool
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center point (TCP).
The get_applied_base_force(<index>) function returns the current wrench (force and torque vector) value applied at the robot arm
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base.
The express_force_in_frame(<T_from_to>,<wrench_from>)function is used to convert the wrench (force and torque vector) reading
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in a given reference frame into another (end-effector to robot base, and vice-versa, for example).
T_from_to = relative pose of the reference frame into which the wrench reading is converted
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wrench_from = wrench to transform in pose or list format (Fx, Fy, Fz, Mx, My, Mz)
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Robotiq CN C M achine Tending Kit Instruction M anual
67