Wrist Clamping Torque Limit
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Force Limit has a new setting for enabling or disabling Wrist Clamping Torque, which is enabled by default. This safety function limits how much torque the wrist can apply for pushing.
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Wrist Clamping Torque details |
When enabled, the robot limits torque in the wrist joints to prevent clamping between wrist, payload and the lower arm of the robot. This setting also defines an upper limit to the applied torque windows of base, shoulder, and elbow joint. Achievable contact forces may be significantly lower than the specified forces in the Tool Force Limit and Elbow Force Limit.
When disabled, the robot can use higher pushing force with the wrist joints for force controlled applications, as an example. When disabled, risks of clamping with the wrist, payload, and lower arm of the robot should be mitigated by other means. This safety function is enabled on all robots by default. In PolyScope X 10.12, it is possible to disable this safety function.
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To enable and disable wrist clamping torque |
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