Compliance units

Flexmill force control and tool compliance

Flexmill tool compliance unit family is designed for the different needs of force controlling. Working
method of units can be configured as required by use case. The units can used to comply tool force
against to the workpiece but can be also used to compensate tool weight on robot arm.


FCU-40 FCU-245
Force 40 N
Stroke 5 mm
Weight 1.7 Kg
Size 147 x 118 x 40 mm
Force 245 N
Stroke +/- 20 mm
Weight 3,5 Kg
Size 235 x 132 x 61 mm



FCU-620 FCU-1240
Force 620 N
Stroke +/- 30 mm
Weight 6,8 Kg
Size 310 x 158 x 83 mm
Force 1240 N
Stroke +/- 30 mm
Weight 13,2 Kg
Size 310 x 25 x 87 mm

Tool compliance unit is 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.