1.2. Summary of functions

l The function is for making individual axes of the robot move like a virtual spring against external forces.

(When the softness is set as being small enough, relevant axes will recover at original angles when the external force is removed.)

l The softness of each axis can be adjusted by the AXIS.Softness command.

l It can be used for the robot axis and additional axes.

l Version of the supported software: Main, V32.17-00 or higher; DSP SV5.78 or higher

1.2. Summary of functions​