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』