2.2.2. ServoFree command

Description	It is a command to activate (on) or inactivate (off) the ServoFree function.
Input methods	『[F6]: Input the command』→『[F1]: Motion, I/O』→『PREV/NEXT』→ 『PREV/NEXT』→『[F4]: ServoFree』
Sentence Rule	LIMIT ON,<Used coordinate system(CRD)>,<sliding direction(DIR)>,<sensitivity gain(GAIN)>,<threshold of external force(F)> LIMIT OFF
Parameter	Use or not	ON	Activate ServoFree function
		OFF	Inactivate ServoFree function
	Used Coordinate System(CRD)	0: Base, 1: Robot, 2: Tool, 3: U(current user’s coordinate system), 4: Un(user’s coordinate system n)
	Sliding Direction(DIR)	Among +X, -X, +Y, -Y, +Z, -Z, choose one
	Sensitivity Gain(GAIN)	1~100
	Threshold of External Force(F)	1~100
Example	ServoFree ON,CRD=1,DIR=+Y,GAIN=50,F=50
	Activate the Servofree function by setting up the sliding direction in the +Y of the robot coordinate system.
Note	§ The value of sensitivity gain is within 1-100. The bigger the value is, the more a robot tool reacts sensitively to the external force. That is, if the external force is the same, the tool whose Gain is 100, slides faster than that whose GAIN is 1. § The higher a threshold of external force (F) is, the larger an external force is needed to move the tool at the same speed. When the robot slides even without external forces, create the large value of F.