The following limits are set for Force Mode control in the PMC.
|
Model No. |
X size [mm] |
Y size [mm] |
Fx [N] |
Fy [N] |
Fz [N] |
Tx [Nm] |
Ty [Nm] |
Tz [Nm] |
|---|---|---|---|---|---|---|---|---|
|
M3-06 |
120 |
120 |
20 |
20 |
20 |
0.4 |
0.4 |
0.4 |
|
M3-08 |
180 |
120 |
35 |
35* |
35 |
0.4 |
0.4 |
0.4 |
|
M3-09 |
240 |
120 |
50 |
50** |
50 |
0.4 |
0.4 |
0.4 |
|
M3-10 |
180 |
180 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-12 |
210 |
210 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-13 |
240 |
240 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-15 |
330 |
210 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-17 |
300 |
300 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-18 |
330 |
330 |
50 |
50 |
50 |
0.4 |
0.4 |
0.4 |
|
M3-25 |
450 |
450 |
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.