ID : 761

ZForce

Function

Specify the thrust force for current limiting function of the third axis (Z axis) in H Series Robot.

Syntax

ZForce Thrust force

Guaranteed entry

Thrust force: Designate the thrust force (unit: N) by single precision real number type. Use "-1" to lift the current limiting.

Description

Specify the thrust force for current limiting function of the third axis (Z axis) in H Series Robot.

Specified thrust force is rough guide.

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

Argument thrust force will be converted to current limiting value. Negative value except "-1" cannot be specified.

Related Terms

Current Limiting Function

Attention

When making this function Off specifying "-1" in argument thrust force, gravity offset setting function will be Off.

If you operate the robot in a high-speed motion during current limiting function On, overshoot might be occured and it might move beyond its motion space. Operate at low speed.

Example

'!TITLE "Sample of ZForce"

Sub Sample_ZForce 

  TakeArm 
  ZForce  50
  io[128] = Off
  
  Wait io[128] = On
  ZForce -1
  
End Sub

ID : 761

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