ID : 5528

ForceSensor

Function

Reset the force sensor

Syntax

ForceSensor Function Number

Guaranteed Entry

Function Number: Specify the processing number along with the force sensor by Integer type data. If "0" is specified, the force sensor is reset, the force sensor is reset.

Description

Reset the force sensor.
This command is exclusive to the Compliance Function with Force Sensor.
For compliance function with force sensor, refer to "Compliance Function with Force Sensor" of FUNCTION GUIDE.

Attention

This command is available for Vertical, articulated robots (6-axis) only. VP series 5-axis robots do not support this command.

Example

Sub Main

 Takearm keep = 1			'Get control authority for the arm group.
 Move P,@E P2				'Move to P2
 ForceParam 1,1,P(100,100,0,100,100,100)'Set force control number, coordinates,
					'and threshold values for external
 :
 ForceSensor 0				'Reset force sensor
 :
 ForceCtrl ON,1				'Enable Force control function
 					'(compliance function)
 Move L,@0 P3				'Move to P3
 :
 'Call the unchuck motion.
 :
 Move L,@0 P2				'Move to P2
 ForceCtrl OFF				'Disable Force control function
 					'(compliance function)
 :

End Sub