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10.5.1.24. SoftJoint

10.5.1.24. SoftJoint

 

Explanation

As one of the sensor-less force control functions, this function allows the robot to be pushed on each axis by an external force.

Syntax

SoftJoint <ON/OFF>

Parameter

ON/OFF

ON: Enable, OFF : Disable

Example

(Example) SFT 50 is set for the S axis and SFT 90 is set for the B axis

 

S1   MOVE P,S=100mm/s,A=1,T=0 

     DELAY 2

     LIMIT SFT,S=50,B=90

SoftJoint ON

S2   MOVE

     SoftJoint OFF

END

 

 

l  Set softness of each axis through LIMIT SFT before using the function through SoftJoint On.

 

 

 

 

l  Check whether the tool information (mass, center of mass) is inputted correctly before using SoftJoint.

l  If SFT is set as large, there is a risk of an axis dropping. Please pay attention to it.