Force - Universal Robots E Series Original Instructions Manual

23. Program Tab

23.13.3. Force

NOTE
Using this function at the same time as Conveyor Tracking and/or Path Offset can
lead to program conflict.
• Do not use this function together with Conveyor Tracking or Path Offset.
Force mode is suited to applications where the actual TCP position along a predefined axis is not
important, but instead a desired force along that axis is required. For example, if the robot TCP rolls
against a curved surface, pushes or pulls a workpiece.
Force mode also supports applying certain torques around predefined axes. The robot arm
attempts to accelerate along that axis, if no obstacles are met in an axis where a non-zero force is
set. Although an axis is selected to be compliant, the robot program still tries to move the robot
along that axis. However, force control assures that the robot arm still approaches the specified
force.
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.
User Manual 187 UR5e