Force control Function Operation manual

• Introduction to End Force Control
  • functional objectives
  • Usage restrictions
• Force Sensor Integration
  • Sensor mounting
  • Sensor integrated topology import
  • Sensor integration topology selection
  • Sensor installation position configuration
  • Enable sensor
• End force traction
  • Function description
  • Function restriction
  • Function operation interface
  • Traction coordinate setup
  • Traction direction Settings
  • Traction compliance Settings
  • On and off traction
• End load identification
  • Function description
  • Function restriction
  • Function operation interface
  • Identify point setting
  • indicates that the identification result takes effect
• End Force Programming
  • Function description
  • Function restriction
  • end force control program
  • Force program
  • ForceGuard program
  • ForceSetZero program
  • ForceWait program
  • ForceMove program
  • Examples of end force control programming