OnRobot VGC10 User Manual page 83

Operation
F/T Move
The F/T Move command can be 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 (movement interrupted). In this case a warning can be generated. If the
movement reaches the last waypoint, the move is successful.
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at
the beginning of the F/T Move command and make sure the tool is not
in contact with any object before starting the F/T Move, otherwise the
command may not stop at the given force/torque limit.
To operate the F/T Move command tap on the Add {{ waypoint.title }} 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 Move command
by using the Structure tab.
Speed The movement speed limit while moving. 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.
Acceleration: The acceleration and deceleration parameter of the movement.
Coordinate system
can be set to Base, Tool, Custom (Base), Custom (Tool) (according to the UR's reference frames). The
Custom coordinate systems are calculated from the basis coordinate system and the given Roll, Pitch and
Yaw values. For the Custom (Base) coordinate system, it is also possible to use the Get TCP orientation
The coordinate system used both for the movement and for the sensor reading. It
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