10.5.1.28. FCset

Explanation	Sets the factors necessary for executing the sensor-based force control function.
Syntax	FCset Fd, X=<X force>, Y=<Y force>, Z=<Z force>, Rx=<Rx force>, Ry=<Ry force>, Rz=<Rz force> FCset Dmp, Dt=<Translation direction>, Dr=<Rotation direction> FCset FLT, Ff=_, Bf=_, St=_, Ft=_, Sr=_, Fr=_
Parameter	Fd	Sets the scale and direction of the contact force that should be maintained Unit: X,Y,Z-[N], Rx,Ry,Rz-[Nm]
	Dmp	Sets the softness of the robot (1 ~ 10 : The lower the number gets, the more quickly and swiftly the robot moves) Dt: Sets the value of the Translation(X,Y,Z) direction Dr: Sets the value of the Rotation(Rx,Ry,Rz) direction
	FLT	Sets the filter that is to be used for force control Ff: cut-off frequency [Hz] of the force information filter Bf: cut-off frequency [Hz] of the Bypass filter St,Ft: Variable scale [N] for the translation operation Sr,Fr: Variable scale [Nm] for the rotation operation
Example	FCset Fd, X=0,Y=0,Z=-50,Rx=0,Ry=0,Rz=0 ‘For maintain the force of 50N in the –Z direction FCset Dmp, Dt=5,Dr=3 FCset FLT, Ff=40,Bf=300,St=0,Ft=0,Sr=0,Fr=0

l To be used together with the ForceCtrl command for the sensor-based force control function.