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along that axis. However, force control assures that the robot arm still approaches the specified
force.
Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will use while it is
operating in force mode. The features in the menu are those which have been defined in the
installation (see 13.12).
Force mode type
The are four different types of force mode each determining the way in which the selected
feature will be interpreted.
e-Series
NOTE:
If there is a Force node inside an If, ElseIf or Loop, and the
Check Expression Continuously option is selected, you can
add an end force mode() script at the end of the expression to
exit force control.
WARNING:
1. Avoid high deceleration just before entering force mode.
2. Avoid high acceleration in force mode, since it decreases force
control accuracy.
3. Avoid movements parallel to compliant axes before entering
force mode.
II-94
14.25 Command: Force
Version 3.11
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