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Make sure that the F/T Zero command is used before the F/T
Move command is executed and the tool is not in contact with any
object (the force/torque reading is zero).
Speed: The movement speed limit while moving. The movement is carried out in a
constant translational speed. If the route or path has sharp changes in the
direction, or the orientation, the actual speed of the robot may be less than
specified, but still constant throughout the route or Path. (mm/s)
Acceleration.: The acceleration and deceleration parameter of the movement.
(m/s
2
)
Coordinate system: The coordinate system used both for the movement and 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.
Show advanced parameters checkbox: If checked then more options become
available:
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Using the URCap Plugin 38
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