ID : 222

GrvOffset

Function

Configure True/False of gravity offset setting function.

Syntax

GrvOffset True/False

Guaranteed entry

True/False: Enable/Disable the servo lock by an integer type data.
To enable this command, enter True or an integer other than 0.
To disable this command, enter False or 0.

Description

This is a command to configure True/False for the correction function of gravity offset setting function.

To execute this command, the task must acquire robot axis control.

The correction function of gravity offset setting function is not disabled even after release of axis control or task termination. Enable it only if necessary.

Attention

Execution of this command during machine lock is ignored.
When you run this command while a robot is moving, the command does not start until the robot fully stops.
While the force control is enabled, the robot can be moved by external force; that may result in the error of this command.
This command is not disabled by switching motor power ON/OFF.
The robot may move unexpectedly if the following two conditions are met;
- The current limit is enabled.
- When the motor power turns ON, the robot posture is different from the posture where this command has been enabled.
Enable this command only when it is needed.

Example

'!TITLE "DENSO Robot Program"
Sub Sample_GrvOffset_Sample

  TakeArm Keep = 1

  GrvOffset 1

  GrvOffset 0

END Sub