OnRobot HEX-E v1 User Manual page 27

UR's built-in Move commands cannot be used under the
Control command. To move the robot under the force control, use
the F/T Move or F/T Search command instead.
Fx, Fy, Fz, TX, TY, TZ: The axis selection that needs to be compliant. If an axis is
enabled (compliant) the movement along/about that axis is force/torque
controlled otherwise (non-compliant) position controlled. The enabled axis is
controlled to keep the set force/torque value constant. At least one compliant axis
must be selected.
Coordinate system: The coordinate system used both for the sensor reading. It
can be set to Base, Custom (Base), Tool, Custom (Tool) (according to
the UR's reference frames). The Custom coordinate systems are calculated from
the basis coordinate system and the given Roll, Pitch and Yaw values. For the
Custom (Base) coordinate system, it is possible to use the Get current TCP pose
button to specify the orientation of the coordinate system, by the orientation of
the current TCP. To demonstrate the given orientation, the Rotate tool to this
orientation [HOLD] button can be used.
P Gain F: The force controller can be tuned with this proportional gain parameter.
If any overshoots or vibrations occur, try lowering the gain value (e.g.: 0.5).
P Gain T: The torque controller can be tuned with this proportional gain parameter.
If any overshoots or vibrations occur, try lowering the gain value (e.g.: 0.5).
Show advanced parameters checkbox: If checked then more options become
available:
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Using the URCap Plugin 27
F/T
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