2.5.2. FCset

Description	Setting of factors required to execute the force control function
Input	『[F6]: Enter Command』→『[F1]: Motion, I/O』→『FCset』
Syntax	FCset Fd, X=_,Y=_,Z=_, Rx=_, Ry=_, Rz=_ FCset Dmp, Dt=_, Dr=_ FCset FLT, Ff=_, Bf=_, St=_, Ft=_, Sr=_, Fr=_
Parameters	Fd	§ Set the size of contact force and direction of contact to maintain § Reference coordinate system: Coordinate system set with the Force Ctrl command (CRD) § Unit: X, Y, Z → [N], Rx, Ry, Rz → [Nm] § Size: X, Y, Z → -5,000–5,000[N], Rx, Ry, Rz → -1,400–1,400 [Nm] (Set a value within the measurement range of the sensor.) Ex.) X=-100: To maintain the force of 100 N in the -X direction of reference coordinate system
	Dmp	§ Setting of smoothness of robot § Size: 1–10 (smaller value means faster and more flexible motion)
		Dt	Setting of translation (X, Y, Z) direction value
		Dr	Setting of rotation (Rx, Ry, Rz) direction value
	FLT	§ Setting of filter for force control
		Ff	Cut-off frequency [Hz] of force data filter
		Bf	Cut-off frequency [Hz] of bypass filter
		St	Variable scale for the translation motion [N] (Default: 0)
		Ft
		Sr	Variable scale for the rotation motion [Nm] (Default: 0)
		Fr