Fig. 4-27: Force Control node with Reference Feature drop-down highlighted.
Parameters
1
Enable control: each checkbox corresponds to the enablement of force feeding along an axis (upper three options) or torque
feeding around an axis (lower three options)
2
Force/ Torque: depending on which options were checked at step 1, the corresponding textboxes here should be filled with the
desired force/ torque values
a
Force values applied are in newtons (N) – the range allowed goes from -150 to +150 N
b
Torque values applied are in newton-metre (Nm) – the range allowed goes from -50 to +50 N.
84
