Table of contents
11Overview of this manual ...................................................................................................................
131 Introduction
131.1 About Force Control base ...................................................................................
151.2 About FC basic control and assembly ...................................................................
161.3 About FC Pressure ............................................................................................
171.4 About FC SpeedChange .....................................................................................
192 Installation
192.1 Getting Started .................................................................................................
253 Navigate and handle the graphical user interface
253.1 FlexPendant interface ........................................................................................
253.1.1 RobotWare Machining FC main menu .........................................................
273.1.2 Version and compatibility ..........................................................................
283.2 Workflow for handling the graphical user interface ..................................................
283.2.1 FC Setup ...............................................................................................
313.2.2 Loading a project ....................................................................................
333.2.3 Creating a project ....................................................................................
373.2.4 Modifying a project with the program wizard .................................................
383.2.5 Executing ..............................................................................................
403.3 Paths ..............................................................................................................
403.3.1 Creating ................................................................................................
423.3.2 Teaching ...............................................................................................
523.3.3 Learning ................................................................................................
563.3.4 Exporting ...............................................................................................
593.3.5 Testing ..................................................................................................
613.4 Hints for handling the graphical user interface ........................................................
613.4.1 Summary - differences between speed change process and pressure process ....
623.4.2 Improving pressure process quality ............................................................
633.4.3 Damping ................................................................................................
653.4.4 Programming with additional axis ...............................................................
663.4.5 Programming in multitask system ...............................................................
683.4.6 Programming in MultiMove system .............................................................
703.4.7 Working with RobotStudio Machining PowerPac ...........................................
734 Configuration
734.1 System parameters overview ...............................................................................
784.2 Configuration example .......................................................................................
814.3 Configuring a MultiMove system ..........................................................................
835 Programming
835.1 RAPID Components ...........................................................................................
835.1.1 Force controlled pressure applications ........................................................
855.1.2 Force controlled speed change applications .................................................
895.1.3 Force controlled assembly applications .......................................................
945.2 Code examples .................................................................................................
945.2.1 Force controlled pressure applications ........................................................
955.2.2 Force controlled speed change applications .................................................
985.2.3 Force controlled assembly applications .......................................................
1016 Execution behavior
1016.1 Conflicting reference values ................................................................................
1036.2 Damping and LP-filter ........................................................................................
1056.3 Overcome friction ..............................................................................................
Application manual - Force Control 5
3HAC050377-001 Revision: A
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Table of contents
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