2.1.1. Summary of functions

1) A function that makes it possible for individual axes of the robot to work like a virtual spring for an external force

(When the softness is set low enough, relevant axes will not be recovered at the original angle even when the external force is removed.)

2) The softness of individual axes can be adjusted by using the “AXIS axis number.Softness” command.

Example 1) Set the softness of the axis 1 at 10% of its capacity. AXIS1.Softness=90

Example 2) Set the softness of the axis 7 at 80% of its capacity. AXIS7.Softness=20

3) Can be used for the robot axes and additional axes

4) Software version supported: Main V40.03-00 or higher, DSP SV6.08 or higher