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2.1. SoftJoint program structure

2.1. SoftJoint program structure​

 

To use the SoftJoint function, softness should be set for each axis first. When all the work related to being pushed has ended, the SoftJoint function needs to be deactivated.

 

Classification

Description

Program Example

Condition settings

Sets the softness of each axis

Setting the softness as 0 for an axis means that the SoftJoint for it is turned off.

AXIS5.Softness=10

AXIS8.Softness=100

Function starting

Turns on the SoftJoint function

SoftJoint ON

Function ending

Turns off the SoftJoint function

When it is turned off, the softness for all axes will be reset to 0.

SoftJoint OFF