Force Value Selection; Speed Limits; Test Force Settings - Universal Robots E Series Original Instructions Manual

23. Program Tab
When the robot arm is not moving: If force mode is entered with the robot arm standing still,
there will be no compliant axes until the TCP speed is above zero. If later, while still in force
mode, the robot arm is again standing still, the task frame has the same orientation as the
last time the TCP speed was larger than zero.
For the last three types, the actual task frame can be viewed at runtime on the graphics tab (see
23.9. Graphics Tab on

23.13.4. Force value selection

• Force or torque value can be set for compliant axes, and robot arm adjusts its position to
achieve the selected force.
• For non-compliant axes robot arm will follow the trajectory set by the program.
For translational parameters, the force is specified in Newtons [N] and for rotational the torque is
specified in Newton meters [Nm].
NOTE
You must do the following:
• Use get_tcp_force() script function in separate thread, to read actual
force and torque.
• Correct wrench vector, if actual force and/or torque is lower than requested.

23.13.5. Speed limits

Maximum Cartesian speed can be set for compliant axes. The robot moves at this speed in force
control, as long as it does not come into contact with an object.

23.13.6. Test force settings

The on/off button, labelled Test, toggles the behavior of the Freedrive button on the back of the
Teach Pendant from normal Freedrive mode to testing the force command.
When the Test button is on and the Freedrive button on the back of the Teach Pendant is pressed,
the robot will perform as if the program had reached this force command, and this way the settings
can be verified before actually running the complete program. Especially, this possibility is useful
for verifying that compliant axes and forces have been selected correctly. Simply hold the robot
TCP using one hand and press the Freedrive button with the other, and notice in which directions
the robot arm can/cannot be moved.
Upon leaving this screen, the Test button automatically switches off, which means the Freedrive
button on the back of the Teach Pendant is again used for regular Freedrive mode.
The Freedrive button is only effectual when a valid feature is selected for the Force command.
User Manual
page 150), when the robot is operating in force mode.
189 UR5e