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.