Universal Robots e-Series Original Instructions Manual page 106

Feature selection
The Feature menu is used to select the coordinate system (axes) the robot will use while it is
operating in force mode. The features in the menu are those which have been defined in the
installation (see 8.17. Features on
Force mode type
The types of force mode, listed below, determine how the selected feature is interpreted.
• Simple: Only one axis will be compliant in force mode. The force along this axis is
adjustable. The desired force will always be applied along the z-axis of the selected feature.
However, for Line features, it is along their y-axis.
• Frame: The Frame type allows for more advanced usage. Here, compliance and forces in all
six degrees of freedom can be independently selected.
• Point: When Point is selected, the task frame has the y-axis pointing from the robot TCP
towards the origin of the selected feature. The distance between the robot TCP and the
origin of the selected feature is required to be at least 10 mm. The task frame changes at
runtime as the position of the robot TCP changes. The x- and z-axis of the task frame are
dependent on the original orientation of the selected feature.
• Motion: Motion means that the task frame will change with the direction of the TCP motion.
The x-axis of the task frame will be the projection of the TCP movement direction onto the
plane spanned by the x- and y-axis of the selected feature. The y-axis will be perpendicular to
the robot arm's motion, and in the x-y plane of the selected feature. This can be useful when
de-burring along a complex path, where a force is needed perpendicular to the TCP motion.
e-Series
page 142).
106
7. Program Tab
Software Manual