10.4.1.18. ServoFree

Explanation	Control the robot by reflecting the positional increment calculated through the force control in the controller.
Grammar	ServoFree <ON/OFF>,CRD=<Base coordinate system>,[<User coordinate system number>],DIR=<Push direction>,GAIN=<Gain>,F=<Threshold>
Parameter	ON/OFF	ON : Enable, OFF : Disable
	Base coordinate system	Arithmetic formula. Base coordinate system for the robot’s being pushed. (0=Base,1=Robot,2=Too,3=U, 4=Un).
	User coordinate system number	Arithmetic formula. The user coordinate system when the base coordinate system is U and Un.
	Direction	The direction of the robot being pushed in the base coordinate system(+X,-X,+Y,-Y,+Z,-Z).
	Gain	Gain. 1~100
	Threshold	The threshold value required for the robot to be pushed.
Example	ServoFree ON,CRD=1,DIR=+Z,GAIN=1,F=1 'ServoFree function activating MOVE P,S=60%,A=1,T=1 'Robot moves by reflecting the positional increment due to the external force. ServoFree OFF 'ServoFree function ending

l To be activated only in the ServoFree ON ~ OFF range.

l Support is available only for one direction in which the robot is pushed.

l When the threshold gets higher, larger external force needs to be applied to push the robot.