OnRobot HEX-E v1 User Manual page 35

Using the URCap Plugin 35
Insertion depth (D): The distance from the Starting point along the defined axis in
phase A.
Coordinate system: The coordinate system used both for the movement and for
the sensor reading. It can be set to Base or Tool (according to the UR's reference
frames).
Force limit (N): The force limit for the edge detection.
Torque limit (Nm): The torque limit for the orientation adjustment.
Force multiplier: The force limit for the edge detection is multiplied by this value,
to calculate the force limit for the final insertion.
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 F/T Insert Box Command Return Values.
OnRobot © 2018 www.onrobot.com