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SOFTWARE
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
Figure 9. —
Overall view of the qbtools GUI
6.2.3 Basic tab
Measurements and Currents:
the two
buttons
“Get Measurements”
and
“Get Currents”
enable
an auto-refreshing thread shows respectively the encoder measurements or the motor current (in
milliamperes) in the fields below;
Input and sliders:
Depending on the control modality set, it is possible to set the strength (position
command to motors) and the
stiffness of
the qbmove using sliders. The qb SoftClaw behaviour described
in datasheet can be tested moving only the position slider, and setting the stiffness to 0. Changing stiffness
value could vary the qb SoftClaw behaviour.
6.3 URCap
6.3.1 URCap installation
To install the
qb SoftClaw
URCap
into your UR robot, please refer to the
The motor must be activated first to be able to send references to the motor.
