ROBOTIQ CNC Machine Tending Kit Instruction Manual page 79

Fig. 5-19: An end-effector meets adaptive stiffness upon repeated contacts with a surface.
Current Position and Targeted Position
From the Force Control node, you can choose to either:
Apply force based on a Targeted position
l
Apply force at the Current position
l
Fig. 5-20: Force Control for e-Series.
Robotiq CN C M achine Tending Kit Instruction M anual
79