Force Sensor User Guide

UMI-R3-510
Force Sensor User Guide
Rev. Revision History Date

001 Original Issue 96-06

002 F3, Rapl-3 Upgrade 98-06
003 C500c update 99-06
004 General update 99-10
004a CSA certification information added 99-12

Copyright © 2000 CRS Robotics Corporation

RAPL-3, RAPL-II, and RAPL are trademarks of CRS Robotics Corporation and may be used to describe
only CRS Robotics products.
All brand names and product names used in this guide are trademarks, registered trademarks, or trade
names of their respective holders.
The information in this document is subject to change without notice.
CRS Robotics Corporation makes no warranty of any kind with regard to this material, including, but not
limited to, the implied warranties of merchantability and fitness for a particular purpose. CRS Robotics
Corporation assumes no responsibility for any errors that may appear in this document. CRS Robotics
Corporation makes no commitment to update nor to keep current the information contained in this
document.
CRS Robotics Corporation software products shall remain the property of CRS Robotics Corporation.
Additional copies of this guide, or other CRS Robotics literature, may be obtained from the Sales
Department or from your distributor.

ii
PREFACE

About This Guide

This user guide accompanies the force sensor option for CRS robot systems.
It contains general information, specifications, installation instructions,
startup procedures, and basic operation instructions for the force sensor. It
is designed to complement the more general manufacturer’s guide for the ATI
Industrial Automation F/T Sensor.
Before using or installing the force sensor, you should be familiar with all
safety procedures contained in the manufacturer’s guide for the ATI
Industrial Automation F/T Sensor. This ATI guide is included as part of the
force sensor kit.

Force Sensor User Guide: Preface iii

 Preface: Who Uses This Guide

Who Uses This Guide

This installation guide is intended for those who have attended a CRS
Robotics robot system training course and already have some basic
familiarity with RAPL-3 and Robcomm3.

How to Use This Guide

Throughout this user’s guide warnings are marked by a “!” symbol in the left
margin. Failure to comply with these warnings can result in system errors, memory
loss, or damage to the robot and its surroundings
This guide is task based and uses navigational aids to help you quickly find
the topics and information you need. If a technical term is not familiar to
you, refer to the Glossary.
Before attempting to follow instructions or examples in a section, read the
entire section first.
This guide consists of the following chapters:
• Introducing the Force Sensor describes the force sensor and the
available operating modes.
• Installing the Force Sensor explains how to install the force sensor and
set up communication between the force sensor and your PC.
• RAPL-3 Library Commands defines all available force sensor commands
in the RAPL-3 library.
• Troubleshooting provides tips for correcting common problems with
your force sensor configuration.
Throughout this manual, Imperial units are used as the standard units of
measurement, followed by the metric equivalent in brackets. For example,
“The ATI sensor can sense forces of up to 15 pounds (67 Newton’s)…”

For More Information

Additional information is available in the following documents
• Installation and Operations Manual for Stand-Alone F/T Sensor
Systems (ATI Industrial Automation)
• F3 Robot Arm for C500C Controller User Guide (UMI-R3-310)
• A465 Robot Arm User Guide for C500C Controller (UMI-33-465-A)
• A255 Robot Arm User Guide for C500C Controller (UMI-33-255-A)
• C500C Controller User’s Guide (UMI-33-CON)
• RAPL-3 Programming Manual (UMI-R3-210)
• Robcomm3 User Guide (UMI-UM-RC1)
• Robcomm3 for Windows Reference Manual (UMI-23-504)

iv Force Sensor User Guide: Preface

Preface: For More Information

Additional copies of this manual, or other CRS Robotics literature, may be

obtained from the Customer Support Group.
Training courses are offered at our facility in Burlington, Ontario, Canada, or
can be conducted at your facility. For additional information contact the
Customer Support Group.
CRS Robotics Corporation
5344 John Lucas Drive
Burlington, Ontario
L7L 6A6
Canada
Telephone: (905) 332-2000
Facsimile: (905) 332-1114

Force Sensor User Guide: Preface v

 Preface: Contents

Contents

CHAPTER 1 .............................................................................. 1
Introducing the Force Sensor .................................................... 1
The Force Sensor ................................................................ 2
Range of Measurable Forces and Torques ............................ 3
Operating Modes ................................................................. 3

CHAPTER 2 .............................................................................. 5
Installing the Force Sensor ....................................................... 5
Installation Requirements ................................................... 6
Installing the Force Sensor .................................................. 7
Testing the Force Sensor ................................................... 10
Calibrating the Force Sensor ............................................. 11

CHAPTER 3 ............................................................................ 13
RAPL-3 Library Commands ..................................................... 13
Operating commands ........................................................ 14
Operating Parameters ....................................................... 19
Detailed Examples ............................................................ 23

CHAPTER 4 ............................................................................ 31
Troubleshooting ..................................................................... 31
Incorrect or Inconsistent Force Data .................................. 32
Inaccurate Sensor Readings .............................................. 32
Application Cannot Communicate With Sensor .................. 33

APPENDIX A........................................................................... 35
Sensor Electronics Configuration ............................................ 35

APPENDIX B .......................................................................... 37
Force Sensor Specifications .................................................... 37
Glossary ................................................................................G-1
Index...................................................................................... I-1

vi Force Sensor User Guide: Preface

CHAPTER 1

Introducing the Force Sensor

This chapter introduces the force sensor for CRS Robotics A255, A465, and
F3 arms, and discuses the operating modes available. It contains the
following sections:
• The Force Sensor
• Range of Measurable Forces and Torques
• Operating Modes

Force Sensor User Guide: Introducing the Force Sensor 1

 Introducing the Force Sensor: The Force Sensor

The Force Sensor

The force sensor is an arm option for CRS Robotics A255, A465, and F3
robot systems. It enables a robot system to detect forces and torques when
the robot system is in contact with an object. When used with an A465 or F3
arm, the sensor can be additionally configured to provide force control
information to the robot system. This information allows the trajectory
planner to move the arm to actively compensate for applied forces and
torques.

Figure 1: Typical force sensor (ATI Industrial Automation F/T sensor)

How the Force Sensor Works

The force sensor mounts directly on the tool flange of the arm and has a
flange for attaching end effectors. When an attached end effector comes into
contact with an object, pressure-sensitive devices inside the force sensor
measure the applied forces and torques, and transfer this information to the
controller. The force sensor controller digitizes the signal and transforms it
into the forces and torques which are sent to the controller.
The force sensor is controlled from a computer via RAPL-3 library
commands.

2 Force Sensor User Guide: Introducing the Force Sensor

 Introducing the Force Sensor: Range of Measurable Forces and Torques

Range of Measurable Forces and Torques

The force sensor detects forces and torques in six degrees of freedom, i.e.
about the X, Y, and Z axes of the sensor. It is sensitive within the ranges
shown in the following table:
Table 1: Measurable Forces and Torques

Detected Property Range of Sensitivity

Force (X-direction) 0 to 15 pounds 0 to 67 Newton’s
Force (Y-direction) 0 to 15 pounds 0 to 67 Newton’s
Force (Z-direction) 0 to 50 pounds 0 to 222 Newton’s
Torque (X-direction) 0 to 50 inch-pounds 0 to 5650 Newton-mm
Torque (Y-direction) 0 to 50 inch-pounds 0 to 5650 Newton-mm
Torque (Z-direction) 0 to 50 inch-pounds 0 to 5650 Newton-mm

Operating Modes
The force sensor operates in two modes: force sampling mode and force
control mode.

Force sampling mode

In force sampling mode, the sensor provides information to the robot
controller, but plays no part in controlling the action of the robot arm. Force
sampling information is useful in applications such as measuring part
weights, or detecting overload conditions.
Note: When the force sensor is used with an A255 arm, this is the only
available operating mode.

Force control mode

In force control mode, the sensor provides information critical to the
trajectory planner software that moves the robot arm. This information is
used to actively control exerted force or maintain positional control of the
arm. Force control mode is available on the A465 and F3 robot arms only.

Force Sensor User Guide: Introducing the Force Sensor 3

Introducing the Force Sensor: Operating Modes

4 Force Sensor User Guide: Introducing the Force Sensor

CHAPTER 2

Installing the Force Sensor

Before installing the force sensor, ensure that you are familiar with the
manufacturer’s instructions that came with the ATI Industrial Automation
F/T sensor. Review all safety procedures relating to the installation process.
The following sections describe how to install, test, and calibrate the force
sensor.
• Installation Requirements
• Installing the Force Sensor
• Testing the Force Sensor
• Calibrating the Force Sensor

Force Sensor User Guide: Installing the Force Sensor 5

 Installing the Force Sensor: Installation Requirements

Installation Requirements
To install the force sensor, you need a robot system which is already
installed and configured. The robot system must contain the following
components:
• F3, A465, or A255 arm
• C500C controller
• Computer terminal
Consult the guides that came with your robot system for installation and
configuration instructions.

Required Software
Verify that the following software components are installed on your robot
system:
• Robcomm3 for Windows
• RAPL-3, version 2.4.1113 or higher

Required Tools
You will need the following tools to install the force sensor:
• Metric and Imperial Hex (Allen) keys
• Philips screwdriver

Force Sensor Kit

The force sensor kit includes the following:
• Installation and Operations Manual for Stand-Alone F/T Sensor Systems
• Force sensor (also called an F/T transducer)
• Sensor controller (also called a stand-alone F/T controller)
• Sensor controller cable
• Power cable
• 9-pin null modem cable
• Screws and servogripper flange in a small plastic bag
• Floppy disk containing RAPL-3 force sensor utilities
If any parts are missing, please contact your distributor.

6 Force Sensor User Guide: Installing the Force Sensor

 Installing the Force Sensor: Installing the Force Sensor

Installing the Force Sensor

Before installing the force sensor, you should familiarize yourself with the
safety procedures in the manufacturer’s instructions that came with the ATI
Industrial Automation F/T sensor. You should also verify that:
• The arm is mounted on a level surface and is properly calibrated for
gravity compensation and force tracking.
• You can easily reach the tool flange and upper arm.
• End effectors are removed from the tool flange.

Aligning the Tool Flange

Before installing the force sensor, you must align the tool flange by placing
the arm in the ready position.

To align the A255 or A465 tool flange:

1 Turn on the controller.
2 Turn on power to the arm.
3 Home the arm.
4 Move the arm to its ready position. Ensure that the tool flange is aligned
so that its keyway lies horizontally and joint #6 is in the middle of its
travel. If necessary, move the arm with the teach pendant.
5 Turn off power to the arm.
6 Turn off power to the controller.
The tool flange is now in the correct position for mounting the force sensor.

To align the F3 tool flange:

1 Turn on the controller.
2 Turn on power to the arm.
3 Move the arm to the ready position.
4 Turn off power to the arm.
5 Turn off power to the controller.
The tool flange is now in the correct position for mounting the force sensor.

Force Sensor User Guide: Installing the Force Sensor 7

Installing the Force Sensor: Installing the Force Sensor

Mounting the Force Sensor

When mounting the force sensor, take care not to damage the internal
electronics which are exposed.

To mount the force sensor:

1 Remove the sensor’s rear plate by removing the eight M3 flat head screws
on the rear plate of the sensor.
2 Carefully align the plate to the tool flange’s 3 mm pin hole.
Note: If the arm is in the ready position, the plate’s exposed pin should be
uppermost. If the arm is upside down, the pin is low on the flange.
3 Attach the sensor plate to the tool flange, using four 10-24 flat head cap
screws.
4 Re-attach the sensor body to its rear plate. Note the pin hole orientation.
Tighten the eight screws securely.

•
Figure 2: ATI FT 15/50 Force sensor mounted on arm

8 Force Sensor User Guide: Installing the Force Sensor

Installing the Force Sensor: Installing the Force Sensor

Connecting the Force Sensor Cables

Cables are used to connect the force sensor to the rest of the robot system.
Always make sure that there is enough extra cable to allow for the full range
of robot motion.

To connect the cables:

1 Place the force sensor controller near the C500C controller.
2 Plug the AC power cable into the force sensor controller.
3 Using the sensor controller cable, connect the force sensor to the force
sensor controller.
Warning! The SYSIO DB-25 connector on the C500C controller is not a serial
communication port. Connecting a serial device to the SYSIO connector will result
in damage to the controller and the serial device.
4 Using the null modem interface cable, connect the force sensor controller
to the 9-pin MCE (serial) port at the rear of the C500C controller.

Figure 3: Cable connections between the force sensor and the robot system.
5 Allow extra slack in the cables to relieve strain at the following locations:
• Between the arm elbow and the sensor body
• At the arm shoulder
• Near the base of the robot

Force Sensor User Guide: Installing the Force Sensor 9

 Installing the Force Sensor: Testing the Force Sensor

Testing the Force Sensor

This procedure uses the sample applications on the floppy disk supplied
with your force sensor kit to check that the force sensor is responding
normally. These applications are explained in detail in the section entitled
“Detailed Examples” on page 23.

To test the force sensor:

1 Turn on the robot system.
2 Using Robcomm3, transfer the force sensor example files from the disk to
the \app\test directory on the C500C controller.
3 At the Robcomm3 system prompt, type
$ ash test

4 Compile and run fon.r3 by typing the following:

test> fon.r
test> fon

5 The program attempts to initialize and activate the force sensor.

• If you see the message “Unable to communicate with force sensor”,
the C500C controller could not communicate with the force sensor.
Shut down the C500C controller and the force sensor controller and
check all cable connections, then repeat the test procedure. If the
error persists, consult the Troubleshooting section at the end of this
guide.
• If the test runs correctly, compile and run force.r3. The sample
application creates a dynamic display of sensed force and torque
data.
6 While examining the data displayed in the Robcomm3 window, press
against the sensor with your hand.
• If the data change in response to the applied load, the sensor is
functioning correctly.
• If the data do not change, check all cable connections and repeat the
test. If the error persists, consult the Troubleshooting section at the
end of this guide.

10 Force Sensor User Guide: Installing the Force Sensor

 Installing the Force Sensor: Calibrating the Force Sensor

Calibrating the Force Sensor

The example program fcal.r3 can be used to automatically calibrate the
force sensor to nullify the gravitational force readings of the current payload.
For more detail on fcal.r3, see “Calibrating the Sensor to Compensate for
Gravity” on p.26.

To perform the calibration:

1 Verify that the tool used with the force sensor is installed in the tool
flange.
2 At the ash prompt, enter the appropriate tool transform by typing:
test> tool( xc, yc, zc, yaw, pitch, roll)

where xc, yc, and zc, are the Cartesian coordinates of the center of the
tool with respect to the default origin.
Note: The RAPL-3 library command tool_set can also be used to specify
the tool transform. See the RAPL-3 Language Reference Guide for
more detail.
3 If you have not already done so, transfer the example files to the C500C
controller.
4 Compile and run fcal.r3 by typing:
test> r3c fcal.r3
test> fcal

5 The program automatically calibrates the force sensor.

Caution! Axes must be calibrated in the order +X, -Z, +Y. Calibrating axes in a
different order results in an inaccurate calibration.

If you prefer not to use the automated procedure, you can calibrate each
force sensor axis individually with the force_calibrate() RAPL-3 library
command. This and other RAPL-3 library commands are explained in the
following chapter.

Force Sensor User Guide: Installing the Force Sensor 11

Installing the Force Sensor: Calibrating the Force Sensor

12 Force Sensor User Guide: Installing the Force Sensor

CHAPTER 3

RAPL-3 Library Commands

The force sensor is programmed and operated using RAPL-3 library

commands. This chapter provides sensor commands, variables, and sample
applications that can easily be adapted to suit your needs.

Force Sensor User Guide: RAPL-3 Library Commands 13

 RAPL-3 Library Commands: Operating commands

Operating Commands
The following RAPL-3 commands allow you to develop programs which
interact with the force sensor.
• force_enable initializes force parameters and sets default scaling,
threshold values, and the force sensor frame type.
• force_calibrate performs a calibration to compensate for the
gravitational force or bias that is sensed as the result of a tool or
payload.
• force_frame_set specifies the frame of reference in which data is
represented.
• linklen_set is used to adjust the link length value for an axis to account
for the length of the force sensor.
• online activates or deactivates RAPL-3 online mode and force tracking.

• force_param_set sets the force sensor parameters.

• force_param_get obtains the current force sensor parameters.

• force_data_get retrieves all six elements of force data.

• tool_set defines the origin and orientation of the tool coordinate system.

force_enable
Description The force_enable command installs the force sensor system by initializing
all force parameters. It is also used to set default scaling, threshold values,
and the force sensor frame type to SENSOR_FR.
Syntax command force_enable(int mode)

Parameters mode: ON turns on sensor sampling

OFF turns off sensor sampling
Returns integer ≥ 0 Success
integer < 0 Failure

14 Force Sensor User Guide: RAPL-3 Library Commands

 RAPL-3 Library Commands: Operating commands

force_calibrate
Description This command allows compensation for the gravitational force or bias sensed
as a result of a tool or payload. Gravity must be nullified in order for the
robot to exert a specified force in any degree of freedom at any orientation to
gravity. Force calibration is especially important for unbiased force tracking
along compound curves. Calibrate commands can also be used to weigh the
robot payload.
Syntax command force_calibrate(int coordinate)

Parameters coordinate: .X_WORLD sensor axis aligned to world +X direction.

.Y_WORLD sensor axis aligned to world +Y direction.
.Z_WORLD sensor axis aligned to world +Z direction.
Returns integer ≥ 0 Success
integer < 0 Failure
Notes The end effector must be installed when performing the calibration
commands. Three separate calibrations must be performed with the sensor
flange x-axis aligned to real world +X, -Z, and +Y axes, in that order. For the
complete sequence refer to the fcal.r3 example program on page 26.
You can check the calibration for your particular application with a weight
scale. Compare the forces displayed on your scale with the force read in by
displaying force parameter [6]. Example program force.r3 on page 24 can be
used as a template for creating a program to display this parameter. Gravity
compensation is normally effective within four ounces or less. However,
certain conditions can alter this effective accuracy. Refer to Troubleshooting
the Force Sensor on page 31.

force_frame_set
Description This command specifies the frame of reference in which force sensor data is
represented.
Syntax command force_frame_set(int frame)

Parameters frame: SENSOR_FR Forces and torques are resolved in the sensor
frame of reference.
WORLD_FR Forces are resolved in the world frame of reference.
Torques cannot be meaningfully represented in the
world frame of reference and are resolved in the
tool frame of reference instead.
TOOL_FR Forces and torques are resolved about the tool tip.
When using this frame of reference it is
particularly important for the tool transform as
well as the link length offset to be set correctly. The
tool transform is set with the tool_set()
command, link length offset is set with
linklen_set().
Returns integer ≥ 0 Success
integer < 0 Failure

Force Sensor User Guide: RAPL-3 Library Commands 15

 RAPL-3 Library Commands: Operating commands

linklen_set
Description This command sets the link length for an axis.
Syntax command linklen_set(int link, float length)

Parameters link: An integer value for the link being initialized

length: An integer value for the length of the link.

Returns integer ≥ 0 Success

integer < 0 Failure
Notes The linklen_set command adjusts to the new location of the tool flange
since the force sensor is now considered to be a part of the robot structure.
For the ATI sensor, the link should be set to a value of 4.2638 inches if
working in Imperial units and 108.3 millimeters if working in Metric.

online
Description This command activates or deactivates online mode and force tracking.
Force tracking cannot be activated when online mode is set to OFF and is
automatically disabled when a non-straight line move is issued to the robot.
Syntax command online(int option)

Parameters option: ON initiates online mode

OFF stops online mode
4 Enables force tracking. The robot memory receives
tracking offsets in all directions.
5 Disables force tracking.
Returns integer ≥ 0 Success
integer < 0 Failure
Notes Online mode requires all subsequent motion commands to be executed
through a path queue eight motions in depth and causes the robot to move
through locations without stopping. The sensor tracking function enters
positional offsets into the trajectory planner. These offsets depend on the
forces sensed, the particular gain values chosen, and the frame of reference
being used.
Since straight-line mode must be commanded for tracking, any non-straight
line move will turn tracking off. CTRL+Z or the halt() command can also be
used to turn force tracking off. The recommended way to begin tracking is to
issue a null straight-line move (for example, wxs 0). This technique is shown
at the end of the track.r3 example program, later in this chapter.

16 Force Sensor User Guide: RAPL-3 Library Commands

 RAPL-3 Library Commands: Operating commands

force_param_set
Description This command sets the force sensor parameters. The complete list of these
parameters can be found later in this chapter.
Syntax command force_param_set(int index, float value)

Parameters index: Specifies the desired location within the force sensor array.
value: Specifies the desired value of the force sensor variable.
Returns integer ≥ 0 Success
integer < 0 Failure

force_param_get
Description This command gets a force sensor parameter. The complete list of these
parameters can be found later in this chapter.
Syntax command force_param_get(int index, float value)
Parameters index: Specifies the desired location within the force sensor array.
value: Specifies the desired value of the force sensor variable.
Returns integer ≥ 0 Success
integer < 0 Failure

force_data_get
Description This command retrieves all six elements of force data resolved into the
chosen frame of reference.
Syntax command force_data_get(var float[6] data)
Parameters data: An empty 6-element array that will be populated with all six
elements of force data.
Returns integer ≥ 0 Success
integer < 0 Failure

Force Sensor User Guide: RAPL-3 Library Commands 17

 RAPL-3 Library Commands: Operating commands

tool_set
Description Sets a tool transform, a redefinition of the origin point and the orientation of
the tool coordinate system.
The default origin is the center of the surface of the mechanical interface
(tool flange).
The tool_set() command has the capacity for a 6 degree-of-freedom
transformation. The origin can be re-defined by translational coordinates: x,
y, and z. The orientation can be re-defined by rotational coordinates: yaw,
pitch, and roll. A cloc data type is used which requires an integer constant
flag followed by float constant coordinates.
Syntax command tool_set(var cloc toolloc)

Parameters toolloc: the transform with x, y, z, yaw, pitch, roll information

flag: this attribute is unused when specifying tool locations
x: the distance along the X axis, in current units
y: the distance along the Y axis, in current units
z: the distance along the Z axis, in current units
yaw: the rotation around the Z axis, in degrees
pitch: the rotation around the Y axis, in degrees
roll: the rotation around the X axis, in degrees
e1: this attribute is unused when specifying tool locations
e2: this attribute is unused when specifying tool locations
Returns integer ≥ 0 Success
integer < 0 Failure
Example cloc mytool
mytool = build_cloc(0, 2.0, 0.0, 3.0, 0.0, 0.0, 0.0, 0.0, 0.0)
tool_set(mytool)
;; for a tool with a tool centre-point 2.0 units along the X axis
;; and 3.0 units along the Z axis from the default origin

Notes When defining a tool transform, some of the standard cloc attributes are
ignored. See the commands base_set() and build_cloc() in the RAPL-3
manual for more detail on using cloc variables.

18 Force Sensor User Guide: RAPL-3 Library Commands

 RAPL-3 Library Commands: Operating Parameters

Operating Parameters
The force sensor communicates with the robot program through an array of
parameters which register sensed forces and regulate the relationship
between sensed forces and the forces exerted by the robot. The array
contains 62 elements (0 through 61) and only becomes active when the
force_enable(ON) command is executed.
To operate in force control mode, the variables must specify setpoints and
gains for each degree of freedom. Setpoints specify the desired or target
exerted forces. Gains specify positional corrections to be made according to
deviations from the setpoints.
Gains are usually established during the running of the application and it is
typical to change them often. A qualified application programmer must select
a range of gains that provide suitable arm performance while maintaining a
safe operational state. Refer to the Read or Write Parameters section later in
this chapter.
In the descriptions below, the term force implies both force and torque data.
Thus a sub-array represented by the symbols Fx, Fy, Fz, Tx, Ty, and Tz
indicates force and torque data corresponding to X, Y, Z, Yaw, Pitch, and
Roll. Figure 4 illustrates the positive directions of these forces and torques
according to the right hand rule.

Fz Tz
Yaw

Fy

Tx Ty
R o ll P itc h

Fx
Figure 4: Directions of forces and torques

Read-Only Parameters
Read-only parameters are provided by sensor readings only and not by user
input.

Resolved Forces/ Torques (ounces and ounce-inches)

Parameters [0..5] (Fx, Fy, Fz, Tx, Ty, Tz)
Raw values of sensed forces and torques are resolved into the appropriate
reference frame (world, tool, or sensor), as defined by the command:
force_frame_set(SENSOR_FR|WORLD_FR|TOOL_FR)

Force Sensor User Guide: RAPL-3 Library Commands 19

RAPL-3 Library Commands: Operating Parameters

Resultant Force (ounces)

Parameter [6] (Fr)
The value of the resultant sensed force is equivalent to the maximum
resolved force in the current coordinate system, as calculated by:

Fr = ( Fx + Fy + Fz )
2 2 2

Resultant Torque (ounce-inches)

Parameter [7] (Tr)
The value of the resultant sensed torque is equivalent to the maximum
resolved torque in the current coordinate system, as calculated by the
following equation:

Tr = (Tx + T y + Tz )
2 2 2

Tracking Offset Registers (inches or mm and degrees)

Parameters [8..15](x, y, z, Yaw, Pitch, Roll)
The positional tracking offset registers are values that provide data on the
amount of positional correction that the software force loop is exerting to the
robot trajectory in order to maintain the force setpoints.
Note: These are read-only values. Do not alter them.

Maximum Sensed Forces (ounces and ounce-inches)

Parameters [16..23] (Fx, Fy, Fz, Tx, Ty, Tz, Fr, Tr)
This data registers the maximum absolute values of forces, torques, and
resultants that have been sensed since the activation of the interface. You
can re-set the registers by writing a zero to these values. The maxima will
continue from that point onwards.

20 Force Sensor User Guide: RAPL-3 Library Commands

RAPL-3 Library Commands: Operating Parameters

Read or Write Parameters

Read or Write parameters are provided by force sensor readings and/or by
user input.

Proportional Control Gains (ounces and ounce-inches)

Parameters [24..29] (Fx, Fy, Fz, Tx, Ty, Tz)
Proportional control gains determine the sensitivity of the force control
software loop and affect the force exerted by the robot arm. They are
positional corrections based on sensed deviations from the desired force
setpoints. Refer to the next page. The units of these gains are in ounces per
inch (or Newton’s per millimeter) for the forces and radians per ounce-inch
(or radians per Newton-millimeter) for torques.
The default gain values are set to provide a reasonable starting point for
most applications.
Table 2: Default Gain Settings

Proportional Gains Differential Gains

Force Torque Force Torque
Imperial 0.00008 0.000005 0.000004 0.000003
Metric 0.01 0.00002 0.0004 0.0003

Force gains are in units of inches per oz (millimeter per Newton) and torque
gains are in units of radians per ounce-inch (radians per Newton-millimeter)
When programming an application, start with these recommended values
and gradually decrease or increase them to a level of acceptable performance
and stability.
Warning! Start with the default gain settings and only modify gains for
degrees of freedom required to perform the task. “Stiff” contact between the
robot and objects in its environment can result in deteriorating stability and loss of
control.

Differential Control Gains (ounces and ounce-inches)

Parameters [30..35] (Fx, Fy, Fz, Tx, Ty, Tz)
Differential control gains determine a correction factor based on changes in
sensed forces and torques. This correction provides a faster response to
transient force conditions. The units of these gains are in inches per ounce-
seconds for forces, and radians per ounce-inch-seconds for torques.
Typically, differential gains are an order of magnitude smaller than the
proportional gains. See default settings above.

Force Sensor User Guide: RAPL-3 Library Commands 21

RAPL-3 Library Commands: Operating Parameters

Threshold Forces (ounces and ounce-inches)

Parameters [36..41] (Fx, Fy, Fz, Tx, Ty, Tz)
The threshold values for sensed forces are the lower bound values below
which the resolved forces or torques will be ignored during force tracking.
Although the sensor is able to detect changes in force of as little as 0.2 oz, in
practice noise, mechanical vibrations, and other disturbances prevent
accuracy below the default threshold values of 1.0 oz (0.5 n). It may be
necessary to increase the threshold value if working with particularly heavy
payloads, or in particularly rough applications.
Note: Actual force readings can always be read by the user regardless of the
threshold value.

Force Setpoints (ounces and ounce-inches)

Parameters [42..49] (Fx, Fy, Fz, Tx, Ty, Tz, Fr, Tr)
The force setpoints are the desired forces and torques to be exerted by the
robot in contacting an object. Setpoints are used to determine positional
offsets according to the force sensor’s tracking algorithm. The setpoints
remain unchanged during normal operation until the sensor interface is
disabled. Turning force tracking off (e.g. wx 0) will not affect this data, so
force control can be temporarily “suspended” without losing the setpoint
values.

Force Sensor Data Scaling (ounces and ounce-inches)

Parameters [50..55] (Fx, Fy, Fz, Tx, Ty, Tz)
The force sensor data scaling provides the default units of measure for the
type of force sensor you use. Normally, this data is automatically established
when you install the force sensor. If another sensor body is used (i.e., a
metric variant) these values can be changed. In this case, it is recommended
that the values be changed only once, immediately after the initialization of
the force sensor interface.
Note: Do not change these parameters unless you are using a non-
standard sensor.

Limit Clamp Parameters (ounces and ounce-inches)

Parameters [56..61] (Fx, Fy, Fz, Tx, Ty, Tz)
The limit clamp settings limit the positional corrections made by the robot
arm. During operation, the force sensor generates tracking offset registers
which feed to the command generator.
Note: Refer to the Read-Only Parameters section earlier in this chapter.
Limit clamp parameters limit the amount of offset that the command
generator can command. When the command generator accumulates more
offset than is specified by these parameters, the robot stops adapting to the
sensed force, and the exerted force will deviate from the programmed force
setpoint.

22 Force Sensor User Guide: RAPL-3 Library Commands

 RAPL-3 Library Commands: Detailed Examples

Detailed Examples
The following examples illustrate and explain typical RAPL-3 programs
needed to operate the force sensor. The programs initialize the force sensor
interface, perform typical force control procedures, and remove the sensor
interface. All of these programs are included on the force sensor distribution
disk.
Note: None of the force-related commands are available through the
applications shell (ash). It is recommended that you become familiar
with these examples and modify the programs for use with your
specific application.
Table 2: RAPL-3 programs for force sensor operation

Program Purpose
fon.r3 Initializes force sampling mode
force.r3 Displays current sensor readings
track.r3 Initializes force control mode
fcal.r3 Calibrates the force sensor.
guard.r3 Performs a guarded move
guide.r3 Forces a guided teach
foff.r3 Turns off the force sensor

Sampling Forces and Torques

These programs are used for sampling forces and torques, but do not control
the robot arm. To disengage the sensor interface, refer to the foff.r3
program in the next section.

Initializing Force Sampling Mode

The fon.r3 program initializes the force sensor software and then turns on
the sensor sampling interface.
main ;; program name: fon
force_enable(ON) ;; initialize & turns on sampling
ctl_rel()
end main

Force Sensor User Guide: RAPL-3 Library Commands 23

RAPL-3 Library Commands: Detailed Examples

Displaying Current Sensor Readings

The force.r3 program provides a dynamic display on the terminal screen of
the currently sensed force and torque data as well as a convenient debugging
tool for testing the sensor.
main ;; force sensor display routine
int i
int j
float[6] params
float[6] s
float[6] pmax= {-1000,-1000,-1000,-1000,-1000,-1000}
float[6] pmin = {1000,1000,1000,1000,1000,1000}
float[6] avg= {0,0,0,0,0,0}
for i = 0 to 250
force_data_get(params)
for j = 0 to 5
if pmax[j] < params[j]
pmax[j] = params[j]
end if
if pmin[j] > params[j]
pmin[j] = params[j]
end if
avg[j] += params[j]
end for
printf("{6.1f}, {6.1f}, {6.1f},",params[0], params[1], params[2])
printf(" {6.1f}, {6.1f}, {6.1f}\n", params[3],params[4],params[5])
end for
for j = 0 to 5
s[j] = pmax[j] - pmin[j]
avg[j] = avg[j] / 250.0
end for
printf("Max vals {5.1f}, {5.1f}, {5.1f}",pmax[0],pmax[1],pmax[2])
printf("{5.1f}, {5.1f}, {5.1f}\n",pmax[3],pmax[4],pmax[5])
printf("Avg was: {5.1f}, {5.1f}, {5.1f}, {5.1f}, {5.1f},
{5.1f}\n",avg[0],avg[1],avg[2],avg[3],avg[4],avg[5])
printf("Min vals {5.1f}, {5.1f}, {5.1f}",pmin[0],pmin[1],pmin[2])
printf("{5.1f}, {5.1f}, {5.1f}\n",pmin[3],pmin[4],pmin[5])
printf("Spread was {4.1f}, {4.1f}, {4.1f}, {4.1f}, {4.1f},
{4.1f}\n",s[0],s[1],s[2],s[3],s[4],s[5])
ctl_rel()
end main

24 Force Sensor User Guide: RAPL-3 Library Commands

RAPL-3 Library Commands: Detailed Examples

Controlling Forces and Torques

These examples illustrate how to program a typical force control application.
The programs should be executed in the order in which they appear below.

Warning! Start with the default gain settings and only modify gains for
degrees of freedom required to perform the task. “Stiff” contact between the
robot and objects in its environment can result in deteriorating stability and loss of
control.

Initializing Force Control Mode

The track.r3 program initializes the sensor for force control mode. The
program chooses the tool coordinate system, which is generally the most
useful. It begins a Cartesian motion mode by issuing a null straight line
move, wxs(0). This program should be called once only at the beginning the
application.
main ;; program name: track
force_enable(ON)
force_frame_set(TOOL_FR)
online(ON) ;; enable online mode
online(4) ;; engage force tracking mode
wxs(0)
ctl_rel()
end main

Force Sensor User Guide: RAPL-3 Library Commands 25

RAPL-3 Library Commands: Detailed Examples

Calibrating the Sensor to Compensate for Gravity

The fcal.r3 program calibrates the force sensor to nullify the gravitational
force readings or bias of the current payload.
Note: The tool used with the force sensor must be installed before
calibration.
The order of calibration in this program is not arbitrary. It is important that
the sensor axes be calibrated in the correct order. The X-axis must be
calibrated first, then the Z-axis, and finally the Y-axis. Deviation from this
sequence will result in unreliable force data. Note the use of the
linklen_set() command to compensate for the extension length of the force
sensor apparatus installed on the arm. When the fcal.r3 program is
completed, the sensor works in a gravity compensated mode.
main ;; program name: fcal
.define NEW_METRIC_LINK_4 (108.3)
.define NEW_IMPERIAL_LINK_4 (4.2638)

int units
units_get(units)
if(units == UNITS_METRIC)
linklen_set(4,NEW_METRIC_LINK_4)
else
linklen_set(4,NEW_IMPERIAL_LINK_4)
end if
force_enable(ON)
speed(30)
ready()
finish()
delay(1500)
force_calibrate(WORLD_X)
joint(5,-90)
finish()
delay(1500)
force_calibrate(WORLD_Z)
joint(4,90)
finish()
delay(1500)
force_calibrate(WORLD_Y)
force_frame_set(TOOL_FR)
ctl_rel()
end main

26 Force Sensor User Guide: RAPL-3 Library Commands

RAPL-3 Library Commands: Detailed Examples

Performing a Guarded Move to Contact a Part

The program guard.r3 performs a guarded move, which is a motion that
proceeds in a position controlled fashion but upon detection of a contact
force, reverts to a force control mode. A force control program turns on
tracking and sets gains. It contains a software loop that tracks sensed force
and relates it to the forces and torques the robot arm will need to exert.
The example program below causes the arm to move in the world x direction
until a force of six Newton’s is sensed. It then moves in the world y direction
being compliant in that direction.
Warning! Ensure that the robot workcell is free from obstructions before
running this program.
main
;; Note: This program is designed to run in
;; metric mode. If the robot is being
;; operated in imperial units be sure to
;; make the appropriate changes
float fparam
int j

force_frame_set(WORLD_FR)
;; set up FY gains. Note that all torque gains are set to zero
;; except the world Y direction gains

fparam = 0

for j = 0 to 6
force_param_set(24+j,fparam)
force_param_set(30+j,fparam)
end for

fparam = 0.01
force_param_set(25,fparam)
fparam =0.00002
force_param_set(31,fparam)

speed (6)
ready()
joint(1,-45)
joint(2,20)
joint(3,20)
joint(5,-40)
finish()
wxs(-150)
finish()
delay(500)

Force Sensor User Guide: RAPL-3 Library Commands 27

RAPL-3 Library Commands: Detailed Examples

online(ON)
online(4)
speed(6)
wxs(300)
fparam = 0.0

;; wait until contact force is encountered

while ( fabs(fparam) < 6 )
force_param_get(0,fparam)
end while

;; stop the robot, move over a bit and engage tracking mode
halt()
wxs(-1)
finish()
online(ON)
online(4)
speed(2)
wys(-10)
ctl_rel()

end main

28 Force Sensor User Guide: RAPL-3 Library Commands

RAPL-3 Library Commands: Detailed Examples

Forcing a Guided Teach

The guide.r3 program implements a force-guided teach mode where the
robot attempts, by moving appropriately, to zero out any external forces
sensed. This program assumes that the force sensor has
already been calibrated.

main ;; program name: guide

;; assumes sensor is calibrated
int i
float fparam, param1, param2

;; move the robot to a suitable starting position

speed(20)
ready()
joint(2,20)
joint(3,20)
joint(5,-40)
finish()

;; set up the Tool frame and engage tracking

force_frame_set(TOOL_FR)
online(ON)
online(4)
wxs(0)

printf("Begin Force Guided Teach \n")

ctl_rel()

end main

Turning off the Force Sensor

The foff.r3 program turns the sensor off and disengages the interface from
the robot controller. It can be called when there is no further use for the
force sensor.
main ;; program name: foff
online(5) ;; disengage tracking mode
online(OFF) ;; disable online mode
force_enable(OFF)
ctl_rel()
end main

Force Sensor User Guide: RAPL-3 Library Commands 29

RAPL-3 Library Commands: Detailed Examples

30 Force Sensor User Guide: RAPL-3 Library Commands

CHAPTER 4

Troubleshooting

Force sensor problems can result from incorrect installation, calibration,

and communications or from faulty equipment. Diagnosis requires a
computer (PC) with Robcomm software.

Force Sensor User Guide: Troubleshooting 31

 Troubleshooting: Incorrect or Inconsistent Force Data

Incorrect or Inconsistent Force Data

If the force sensor delivers incorrect or inconsistent data, monitor the raw
sensor data and check sensor body orientation according to the following
steps:
1 Run Robcomm and choose terminal mode from the utilities menu.
2 At the system prompt ($), compile and execute fon.r3.
3 Press Enter to enable force sensing.
4 Compile and execute force.r3.
5 Press Enter. You will see a dynamic display of current force and torque
data originating from the sensor.
6 If bad data values are present, perform the following checks:
• Change the frame of reference to SENSOR_FR and run the force.r3
program again. The current sensor data will be displayed in its raw
(untranslated) form, using the sensor frame of reference.
• Check the orientation of the sensor body on the robot flange. If it is
not correct, then the sensor data displayed by the force.r3 program
may appear in directions that are not consistent with the installation.

Inaccurate Sensor Readings

Force sensor readings should be accurate to within four ounces. Inaccurate
sensor readings may be caused by the following sources of interference.

Hoses or electrical conductors under strain

During the calibration, a false reading may result if hoses or electrical
conductors come into contact with the sensor during calibration.
Verify that all cables or hoses are strain-relieved and properly supported,
and be sure that they do not bind during the travel of the payload.

Incorrect or unspecified tool transform

Ensure that a correct tool transform has been specified. If the correct tool
transform has not been set, sensed torques will be incorrect.
You can specify a tool transform at the ash prompt by typing:
test> tool( xc, yc, zc, yaw, pitch, roll)

where xc, yc, and zc, are the Cartesian coordinates of the center of the tool
with respect to the default origin.

32 Force Sensor User Guide: Troubleshooting

 Troubleshooting: Application Cannot Communicate With Sensor

Electrical noise
Check the system for sources of electrical noise. Re-routing the cable
between the sensor and the force controller box may decrease the effect of
electrical interference. Sensors have varying characteristics of electrical
noise immunity. Consult the sensor manufacturer’s specifications.

Improperly matched force sensor and sensor controller

Be sure that the sensor body is matched to the sensor controller unit. Verify
that the serial number on the inside of the force sensor matches the serial
number on the back of the force controller box. These devices have
calibration data which is important for accurate measurement, although it is
possible to operate an unmatched set, it is not recommended.

Changes in temperature
Changes in ambient temperature can affect the accuracy of measurement of
the sensor. Consult the sensor manufacturer’s specifications.

Application Cannot Communicate With Sensor

You will receive a communications error if an application cannot
communicate with the sensor. Use the following steps if you are having
difficulty establishing communication with the sensor:
1 Ensure that the force controller is plugged in, turned ON, and cables
connecting the sensor to the controller and the controller to the C500c
are both present and undamaged.
2 Verify that the cable connecting the force controller box and the C500c
robot controller is a NULL (straight through) cable.
3 Ensure that the green power light on the front of the force controller box
is ON and the red health light is OFF.
4 Verify that the version of CROS on the controller supports the force
control option. This can be checked by bringing up the terminal window
and typing the command crosver from the command prompt. The version
number should be at least 2.4.1113. If the version number is less than
this, consult CRS Customer Support to obtain a more recent release.

Force Sensor User Guide: Troubleshooting 33

Troubleshooting: Application Cannot Communicate With Sensor

34 Force Sensor User Guide: Troubleshooting

APPENDIX A

Sensor Electronics Configuration

The electronics configuration of the sensor controller is factory preset
according to the exact specifications for your force sensor. Under normal
sensor operation, there is no need to change any of these settings.
However, if the sensor becomes damaged it may be necessary to re-configure
the sensor controller communication settings.
Note: These settings are part of the sensor controller unit and are not part
of the robot controller.
Communication settings only need to be re-configured once to correct a force
sensor problem. Refer to the configuration requirements and code
descriptions in the manufacturer’s programming guide for your sensor.
Always be sure to use the correct sensor with its matching controller unit
and cabling. Mixing these items will result in reduced accuracy. Re-
configuration should be done only by a qualified service technician.

Sensor RS232 Communication Settings

This sensor uses an RS232 serial interface to communicate with the robot
controller at 38400 baud. The communication parameters are programmed
into the sensor controller unit with the following macro:
ZC 0,"CD B;SM 0;SB"

The macro sets the following parameters:

CD B Binary data communication enabled
SM 0 No overload error messages allowed
SB A single, initial sensor bias
Note: For normal operation, these settings generally do not need to be
altered.
If the sensor electronics have suffered a configuration memory loss, consult
your manufacturer’s sensor installation guide for information on how to re-
program these settings.

Force Sensor User Guide: Sensor Electronics Configuration 35

Sensor Electronics Configuration

36 Force Sensor User Guide: Sensor Electronics Configuration

APPENDIX B

Force Sensor Specifications

Force Sensor interfaced to robot

Degrees of freedom
The force sensor can detect forces through all six degrees of robot motion.

Rated sensing range

Force
• X, Y 15 pounds (66.7 Newtons)
• Z 50 pounds (222 Newtons)
Torques
• X, Y, Z 50 pound-inches (5650 Newton-millimeters)
Resolution

Force 0.2 ounces (0.055 Newtons)

Torques 0.2 ounce-inches (1.4 Newton-millimeters)

Precision
Precision is defined by the accuracy with which the calibrated sensor
measures applied forces and nullifies its weight and the weight of any fixed
payload.

Force: 1.0 ounce (0.275 Newton’s)

Torques: 1.0 ounce-inches (7.1 Newton-millimeters)

Sensor Controller Unit

Measurement units
• Force ounces or Newtons
• Torque ounce-inches or Newton-millimeters

Force sensor update

The sensor controller updates at a rate of 100 Hertz (Hz)

Available Coordinate Systems

• World Frame
• Tool Frame
• Sensor Frame

Modes of Operation
• Force Sensing
• Force Controlling

Force Sensor User Guide: Force Sensor Specifications 37

Force Sensor Specifications

38 Force Sensor User Guide: Force Sensor Specifications

Glossary

Adaptive Control
A software loop that tracks sensed force and relates it to the forces and
torques the robot arm will need to exert.
Bias
The gravitational force resulting from the robot’s end effector or payload
which must be compensated for in order for the robot to exert a specified
force in any degree of freedom at any orientation of gravity. Bias is
compensated for by the Sensor Force Calibrate commands.
Controller
The computerized device that moves the robot arm by providing the
necessary control signals. During the running of an application, these
signals are issued by the execution of a robot software program.
Degree of freedom (DOF)
The types of independent motions in which the robot can move its end
effector (gripper, tool), as defined by the axes of motion. For example, the
A465 robot has six degrees of freedom and can move to co-ordinates
specified by: X, Y, Z, Yaw, Pitch, and Roll.
End effector
A device attached to the tool flange that is used to perform the robot’s task,
such as a gripper, dispenser, buffing wheel, or spray head.
Force
Drive or resistance that acts to push an object toward a different location (as
indicated by X, Y, and Z). The force sensor measures force in ounces.
Gains
Variables that specify positional corrections to regulate the sensitivity of
force control. Proportional gains are made according to deviations from the
force setpoints. Differential gains are made according to changes in sensed
forces and torques.
Moment
See Torque.
Orientation
Cartesian rotational coordinates (referred to as Yaw, Pitch, and Roll) that
specify the spatial attitudes of a robot’s end effector.
Position
Cartesian rectilinear coordinates (referred to as X, Y, and Z) that specify a
location or directions in space.
Positional Offset
The distance the arm must move to contact an object with the force specified
by the force setpoint in that direction.

Force Sensor User Guide: Glossary G-1

Glossary: RAPL (Robot and Automation Programming Language)

RAPL (Robot and Automation Programming Language)

An automation-oriented, line-structured language of commands, similar to
BASIC, used for robot applications and communication.
Robcomm (Robot Communication Software)
A Windows or DOS based computer software program that enables the
transfer, editing, and debugging of robot application programs and support
data; enables robot operation; and provides utilities such as terminal
emulation and memory checks.
Real world reference frame
A world Cartesian coordinate system, which has the Z-axis pointing away
from gravity. The default or (zero base offset) world reference frame.
Sensor frame of reference
The coordinate system having its origin at the center of the sensor flange. To
be useful, the raw data that is sensed here must be translated to the robot’s
tool or the world coordinate system.
Setpoints
Variables that specify the desired or target force to be exerted by the robot in
each degree of freedom.
Torque
Moment that acts to twist an object toward a different orientation (as
indicated by Yaw, Pitch, and Roll). The force sensor measures torques in
ounce-inches.

G-2 Force Sensor User Guide: Glossary

Index

current, 24
data, 18, 19
A display current values, 24
accuracy, sensor, 32 exerted, 27
ash, 23 interface variables, 19
ATI FT 15/50 Force Sensor, 8 maximum sensed, 20
resolved, 22
resultant, 20
B sampling, 23
sensed, 19
bias, 15, 26 setpoints. See setpoints
tracking. See tracking
C force control mode, 3, 16, 18, 19, 25, 27
initializing, 25
calibration, force, 11, 26 suspension of, 22
cartesian motion mode, 25 force sampling mode, 3
code descriptions, 35 initializing, 23
command generator, 22 force sensor data scaling, 22
communication, troubleshooting, 33 force sensor parameters, 17
configuration, sensor electronics, 35 force tracking. See tracking
contact force, 27 force.r3, 24, 32
control loop. See software loop force.r3 program, 24
coordinate system forces
resolution to, 19 sensed, 21
tool, 25 forces, threshold. See threshold forces
correction factor, 21 frame of reference, 15
corrections, inconsistent, 32
G
D
gains
data scaling, 22 differential control, 21
debugging tool, 24 proportional control, 21
degree of freedom, 15 gravity, compensating for. See calibration, force
desired, 2 guard.r3 program, 27
diagnostics. See troubleshooting guarded move, 27
differential control gains. See gains
display sensed forces. See forces: display current values
I
E inaccurate readings, 32
initialize
examples, 23 force control mode, 25
exerted force, 19 sensor program, 23
interface
turning off, 29
F variables, 19. See force:interface variables
fcal.r3 program, 11, 26
foff.r3 program, 29
fon.r3, 23, 32
L
fon.r3 program, 23 limit clamp settings, 22
force

Force Sensor User Guide: Index I-1

 read-only arrays, 19, 21
M real world reference frame, 11, 15
maximum sensed force, 20 resolved forces, 19, 22
re-setting, 20 resolved moments, 19
measuring part weights. See force sampling mode resultant force, 20
memory loss, 35 resultant moment, 20
moment RS232 serial interface, 35
current, 24
data, 18, 19
display current values, 24
S
exerted, 27 sensed
maximum sensed, 20 deviations, 21
resultant, 20 forces, 19, 21
sampling, 23 moments, 19
sensed, 19, 21 sensor accuracy, 32
motion trajectory planner, 16 sensor, different type, 22
setpoints, 21, 22
software loop, 3, 20, 21, 27
N specifications, force sensor, 37
null straight line move, 16, 25 stability, loss of, 21, 25
suspension of force control, 22

O
T
Operating Modes, 37
testing the sensor, 24
threshold forces, 22
P track.r3 program, 25
path queue, 16 tracking, 16, 22, 27
payload, 11, 15, 26 offsets, 16, 20, 22
positional correction, 21, 22. See also tracking trajectory, 20
positional tracking. See tracking transient force conditions. See gains, differential control
program troubleshooting, 31
fcal.r3, calibrate for gravity, 11, 26 typical force control procedures. See examples
foff.r3, turn off sampling, 29
fon.r3, initialize force sampling, 23 V
force.r3, display current forces, 24
guard.r3, guarded move, 27 variables. See force:interface variables
track.r3, initialize force control, 25
programs, example, 23
proportional control gains. See gains
W
weighing payload. See payload
R
readings, inaccurate, 32

I-2 Force Sensor User Guide: Index