Universal Robots e Series User Manual page 171

15.7 Templates
arm complies with the environment along a compliant axes. This means the robot arm automatically
adjusts its position in order to achieve the desired force. It is also possible to make the robot arm
itself apply a force to its environment, e.g. a workpiece.
Force mode is suited to applications where the actual TCP position along a predefined axis is not
important, but instead a desired force along that axis is required. For example if the robot TCP rolls
against a curved surface, pushes or pulls a workpiece. Force mode also supports applying certain
torques around predefined axes.
Note: if no obstacles are met in an axis where a non-zero force is set, the robot arm attempts to
accelerate along that axis.
Although an axis is selected to be compliant, the robot program still tries to move the robot along
that axis. However, force control assures that the robot arm still approaches the specified force.
Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will use while it is oper-
ating in force mode. The features in the menu are those which have been defined in the installation
(see 16.3).
Version 5.4
WARNING:
1. Avoid high deceleration just before entering force mode.
2. Avoid high acceleration in force mode, since it decreases force
control accuracy.
3. Avoid movements parallel to compliant axes before entering
force mode.
II-81 e-Series