FlexForce - Flexmill

Flexmill Compliance Units

ECONOMICAL FORCE CONTROL

Compact and durable Flexmill tool compliance units are designed for the different needs of the force
controlling. Integration of units is made easy. Suitable force control units for the different needs can be
found from the extensive compliance product family.

Durable and compact structure

Extensive family of the different models

Two different working modes.

A maintenance free, clean air supply to keep compliance unit body over pressurized

Models can be equipped with sensors to detect end and/or middle position of slider of compliance unit

Hose and cable packages available in a few standard lengths

FCU-40			FCU-40C

Force 40 N Weight 1.7 Kg Size 147 x 118 x 40 mm Max stroke 10 mm	Working mode 1		Force 40 N Weight 1.7 Kg Size 147 x 118 x 40 mm Max stroke 10 mm	Working mode 2

FCU-100			FCU-100C

Force 100 N Weight 1.87 Kg Size 170 x 112 x 58 mm Max stroke 10 mm	Working mode 1		Force 100 N Weight 1.87 Kg Size 170 x 112 x 58 mm Max stroke 10 mm	Working mode 2

FCU-245			FCU-245C

Force 245 N Weight 3,5 Kg Size 235 x 132 x 61 mm Max stroke 20 mm	Working mode 1		Force 245 N Weight 3,5 Kg Size 235 x 132 x 61 mm Max stroke 20 mm	Working mode 2

FCU-620			FCU-1240

Force 620 N Stroke +/- 30 mm Weight 6,8 Kg Size 310 x 158 x 83 mm Max stroke 30 mm	Selectable working mode 1 / 2		Force 1240 N Stroke +/- 30 mm Weight 13,2 Kg Size 310 x 25 x 87 mm Max stroke 30 mm	Selectable working mode 1 / 2

Working mode 1:

Typically compliance unit is mounted on the robot arm. Tool weight can be compensated either automatically or manually
When tool weight is wanted to compensate dynamically according position and orientation of tool then two proportional valves is required. Note! Dynamic force calculation shall be made at main control system
When tool weight is compensated manually then on proportional valve is enough
Stroke 10 to 30 mm depending of model to selected direction. Allowing +/- deviation of nominal path in range of total 10 – 30 mm.

Working mode 2:

Typically compliance unit is mounted fixed position to the pedestal and tool is mounted to compliance unit.
Controlling with one proportional
Slide centralized, stroke 10 to 30mm to one direction can be used at once, depending of compliance model

Tool compliance unit can be delivered with compliance control unit including one or two proportional valves depending of use case.

When tool is on fixed position then one directional force control can be made by one proportional valve.

If tool weight on robot arm is wanted to compensate dynamically according position and orientation of tool
then second proportional valve is required. Alternative is to have tool weight elimination with manual adjustment.