The following limits are set for Force Mode control in the PMC. XBot sizes can be found on the XBot Types page.
3-Series
|
Model No. |
Fx [N] |
Fy [N] |
Fz [N] |
Tx [Nm] |
Ty [Nm] |
Tz [Nm] |
|---|---|---|---|---|---|---|
|
M3-06 |
20 |
20 |
20 |
0.4 |
0.4 |
0.4 |
|
M3-08 |
35 |
35* |
35 |
0.4 |
0.4 |
0.4 |
|
M3-09 |
50 |
50** |
50 |
0.4 |
0.4 |
0.4 |
|
M3-10 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-12 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-13 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-15 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-17 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-18 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-25 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
*M3-08 is only capable of 30N in the Y direction. While it is possible to set 35N in the command, the actual force exerted will be 30N.
**M3-09 is only capable of 40N in the Y direction. While it is possible to set 50N in the command, the actual force exerted will be 40N.
4-Series
|
Model No. |
Fx [N] |
Fy [N] |
Fz [N] |
Tx [Nm] |
Ty [Nm] |
Tz [Nm] |
|---|---|---|---|---|---|---|
|
M4-09 |
26.7 |
26.7 |
26.7 |
0.53 |
0.53 |
0.53 |
|
M4-11 |
46.7 |
46.7*** |
46.7 |
0.53 |
0.53 |
0.53 |
|
M4-12 |
66.7 |
66.7**** |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-13 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-16 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-18 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-20 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-22 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-24 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
|
M4-33 |
66.7 |
66.7 |
66.7 |
0.53 |
0.53 |
0.53 |
***M4-11 is only capable of 40N in the Y direction. While it is possible to set 46.7N in the command, the actual force exerted will be 40N.
****M4-12 is only capable of 53.3N in the Y direction. While it is possible to set 66.7N in the command, the actual force exerted will be 53.3N.