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10.5.1.26. ForceCtrl

10.5.1.26. ForceCtrl

 

Explanation

Sets variables for the sensor-based force control function and turns on or off the relevant function.

Syntax

ForceCtrl <ON/OFF>,CRD=<Reference coordinate>,[<User coordinate number>],

T=<Force control tool number>, BC=<Bias Clear>

Parameter

ON/OFF

ON : Enable OFF : Disable

Reference Coordinate

Arithmetic expression. Reference coordinate for the robot to be pushed

(0=Base,1=Robot,2=Too,3=U,4=Un).

User Coordinate Number

Arithmetic expression. The user coordinate number when the reference coordinate is U and UN.

Force Control Tool Number

Selects the force control tool number (0 ~ 15) that stores the tool data

Bias Clear

Initialize the sensor’s default to 0 again because the default will be changed after a work.

(0=No use, 1=Use)

Example

ForceCtrl ON,CRD=1,T=0,BC=1 ‘ForceCtrl function operating

MOVE P,S=60%,A=1,T=1 'Robot moving by reflecting the position increment by the force sensor

ForceCtrl OFF 'ForceCtrl function ending

 

 

l  In order to use this function, set the function as “Enable” in System』→『Application parameter』→『Force control』→『Usage environment setting.

 

l  Before using the command, set the distance and speed through the LIMIT command and set the necessary factors through the FCset command.

 

l  For more details, refer to Hi5a Controller Sensor Based Force Control Function Manual