OnRobot VGC10 User Manual page 58

Operation
HEX-E/H QC
F/T Control
Applications such as polishing, deburring, sanding or grinding may require holding constant force/torque
to a defined direction during movements.
This command alters the trajectory of its child node(s) in order to keep the force/torque values constant
along/about the selected axes.
NOTE:
UR's built-in Move commands cannot be used under the F/T Control
command. To move the robot under the force control, use the F/T Move
or F/T Search command instead.
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at
the beginning of the F/T Control command and make sure the tool is
not in contact with any object before starting the F/T Control,
otherwise the command may not work properly.
Compliant axis Fx, Fy, Fz, Tx, Ty, Tz: The axis selection that needs to be compliant. If an axis is enabled
(compliant) the movement along/about that axis is force/torque controlled otherwise (non -compliant)
position controlled. The enabled axis is controlled to keep the set force/torque value constant. At least
one compliant axis must be selected.
Coordinate system: The coordinate system used both for the movement and for the sensor reading. It
can be set to Base, Tool, Custom (Base), Custom (Tool) (according to the UR's reference frames). The
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