OnRobot VGC10 User Manual page 88

Operation
Acceleration: The acceleration and deceleration parameter of the movement.
F/T Limit Fx,Fy,Fz,Tx,Ty,Tz,F3D,T3D This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D
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available options more than one can be set. In this case, if any of the values reach the set threshold the
stop is triggered. Values equal to zero are neglected.
If the Use absolute values option is enabled, then it is not important whether the entered value is positive
or negative (e.g.: |Fz| > = 3), otherwise the sign defines how the threshold is calculated (e.g.: Fz > = 3 or
Fz <= -3)
Coordinate system The coordinate system used both for the movement and for the sensor reading. It
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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
button to specify the orientation of the coordinate system, by the orientation of the current TCP. To test
the given orientation, the Rotate tool to this orientation [HOLD]button can be used.
Halt program execution if limit has not been reached If enabled, then the program execution will be
:
stopped when the target position is reached or was already in collision (so the search is not successful). If
the search is successful, then the program continues. If disabled, then no pop-up message is shown but
the user can handle any possible errors by the return value of the command.
See return values in the Return Values section.
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