F/T Guard Command - OnRobot HEX-E v1 User Manual

Gain: The gain parameter of the force and torque control. The default value is 0.25.
The smaller the value the more accurate the control of the set pushing force is.
Generate warning (...): If enabled then a pop-up message (blocking) appears if the
insertion was not successful.
If disabled then no pop-up message is shown but the user can handle any possible
errors by the return value of the command. The command updates the of_return
variable once the command exit. This global variable can be used with the UR's built
in If conditional expressions (for example: if of_return == 1 then do
something).
For return values, see

3.3.5 F/T Guard Command

Every UR commands that are put under the F/T Guard will be executed, but the
robot will stop once one of the set limits is reached. The force limiting can be
mixed with an external I/O signal (e.g.: stop if Fz>5 AND digital_in[7] == True).
Make sure that the F/T Zero command is used before the F/T
Guard is executed and the tool is not in contact with any object (the
force/torque reading is zero).
Force/torque limit: This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D,
T3D available options more than one can be set. In this case, if any of those values
reached the set threshold the stop is triggered. The values equal to zero are
neglected.
If the Absolute option is enabled, then it is not important whether
the entered value is positive or negative (e.g.: stop if |Fz| > = 3),
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F/T Fix and Rotate Command Return
Using the URCap Plugin 33
Values.
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