OnRobot VGC10 User Manual page 65

Operation
F/T Search
The F/T Search command is used together with the F/T Waypoint command, to move the robot
along a route, or together with the F/T Path to move the robot along a Path and stop once the defined
force/torque limits are reached (object found). If the movement reaches the last waypoint or the last
point of the path, the search is not successful (the object is not found) and a warning is generated.
To operate the F/T Search command tap on the Add Waypoint button to add an F/T Waypoint as a
child node. More waypoints can be added in the same way. To remove a waypoint, use the Structure tab
Delete button.
Alternatively, F/T Waypoint or F/T Path could be added as a child node of the F/T Search
command by using the Structure tab.
Speed The movement speed while searching for collision. 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.
NOTE:
Overshooting can occur during search, especially with hard contacts (e .g.
metal surfaces). To limit overshoots you should lower the speed.
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at the
beginning of the F/T Search command and make sure the tool is not in
contact with any object before starting the F/T Search, otherwise the
command may not stop at the given force/torque limit.
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