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ID : 5823
Force Control
Force control-related parameters.
Setting with the Teach Pendant
There are different ways to set the parameters. See the Operation column in table below. Note that an item with "-" on the Operation column cannot be set with the teach pendant.
To set the following items with a teach pendant, from the top menu, press [F2 Arm] - [F2 Force Control].
| Operation | Description |
|---|---|
| A | From the top menu, press [F2 Arm] - [F2 Force Control] - [F6 Setting]. For details about operation, refer to "Parameter List" in Force Sensor Compliance Control or "Parameter List" in the Compliance Function under the FUNCTION GUIDE. |
| B | From the top menu, press [F2 Arm] - [F2 Force Control] - [F12 Detail setting]. For details about operation, refer to "Parameter List" in Force Sensor Compliance Control or "Parameter List" in the Compliance Function under the FUNCTION GUIDE. |
| C | From the top menu, press [F2 Arm] - [F5 Sensor] - [F1 Sensor Setting]. For details about operation, refer to "Sensor Setting" in Force Sensor Compliance Control under the FUNCTION GUIDE. |
| D | From the top menu, press [F2 Arm] - [F2 Force Control] - [F5 Sensor] - [F2 IP Address Setting]. For details about operation, refer to "Entering IP Address of Force Sensor" in Force Sensor Compliance Control under the FUNCTION GUIDE. |
| E | From the top menu, press [F2 Arm] - [F2 Force Control] - [F6 Setting]. |
Parameter List
| No. | Item name | Parameter Table Number | Unit | Default | Description | Operation |
|---|---|---|---|---|---|---|
| 404 | Control mode 1 | 1 | - | 0 | Select a control mode. 0: Compliance Function 1: Compliance function with force sensor |
A |
| 405 | Opt mode 1 | - | 0 | Set the control conditions specific to the force-control operation. 0: Disable 8: Resume speed limits |
B | |
| 406 | Control coordinate 1 | - | 1 | Select one of the following coordinates. 0: Base coordinates 1: Tool coordinates 2: Work coordinates |
A | |
| 407 to 412 | Control force 1 (X, Y, Z, RX, RY, RZ) |
N, Nm | 0 | Determines the Control force. Required to control the robot. This value specifies the limit of force to be output. The smaller the value set here, the more likely the robot's motion will be affected by or follow the direction of less external force. Note: If [0: Compliance Function], which does not use the force sensor, is selected in the control mode selection, the control force varies depending on the posture and motion. Adjust the value considering with the actual force. |
A | |
| 413 to 418 | Virtual mass 1 (X, Y, Z, RX, RY, RZ) |
% | 100 | Determines the friction ratio (inertia ratio) which increases according to the acceleration. Decreasing the value will accelerate the motion speed. | B | |
419 to 424 |
Virtual damper 1 (X, Y, Z, RX, RY, RZ) |
% | 100 | Determines the rate of resistive force, which increases according to speed. Setting a small value here will allow faster movement. | ||
| 425 to 430 | Virtual spring 1 (X, Y, Z, RX, RY, RZ) |
% | 100 | Determines the rate of return force strength, which increases according to position. Setting a small value here will allow greater movement with less force. |
||
| 431 to 436 | Force offset 1 (X, Y, Z, RX, RY, RZ) |
N, Nm | 0 | Determines the force value required to lead the robot in a specified direction. Note: Some motions may have a possibility that the robot moves unintended direction. |
||
| 437 to 439 | Position error allowance 1 (X, Y, Z） |
mm | 100 | Determines the allowable deviation value for the arm end position. If the control mode is [1: Compliance function with force sensor], the travel distance of the tool end from the force control start is monitored. |
||
| 440 to 442 | Position error allowance 1 （RX, RY, RZ) |
deg | 10 | |||
| 443 to 450 | Joint error allowance 1 (J1 to J8) |
mm, deg | 10 | Set the allowable deviation value of each axis. If the control mode is [1: Compliance function with force sensor], the travel distance of each axis from the force control start is monitored. This item is not available to extended-joints (J7 and J8) even if you enter any values. |
||
| 451 to 458 | Joint current limit 1 (J1 to J8) |
% | 100 | Determines the torque value (current value) of each axis. The nominal value is 100 [%]. As this value decreases, the torque value (current value) reduces; as a result, the resistance will reduce. This item is not available to extended-joints (J7 and J8) even if you enter any values. |
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| 459 to 953 | Control mode to Joint current limit (for parameter table 2 to 10) |
2 to 10 | Refer to above lines (from 404 to 458) |
Refer to above lines (from 404 to 458) |
For the parameter table number 2 to 10, set above-mentioned items (from "Control Mode" to "Joint current limit"), with the same way as the parameter table number 1. | |
| 954 to 959 | Control rate 1 (X, Y, Z, RX, RY, RZ) |
1 | % | 0 | Determines the control rate of the force sensor when the compliance function with force sensor is used. | |
| 960 to 1013 | Control rate 2 to 10 | 2 to 10 | Refer to above line (954 to 959) |
Refer to above line (954 to 959) |
For the parameter table number 2 to 10, set above-mentioned items (from "Control rate"), with the same way as the parameter table number 1. | |
| 1014 | Max speed 1 | 1 | mm/s | 10 | Determines the maximum speed until contact. This is not used in the compliance function without force sensor. |
|
| 1015 | Max rotation speed 1 | deg/s | 10 | Determines the maximum rotation speed until contact. This is not used in the compliance function without force sensor. | ||
| 1016 to 1033 | Max speed 2 to 10 | 2 to 10 | Refer to above lines (1014 to 1015) |
Refer to above lines (1014 to 1015) |
For the parameter table number 2 to 10, set above-mentioned items (from "Max speed" and "Max rotation speed"), with the same way as the parameter table number 1. | |
| 1034 to 1039 | Attachment position (X, Y, Z, RX, RY, RZ) |
- | mm, deg | 0 | Determines the force sensor coordinate system. | C |
| 1040 to 1045 | Force sensor threshold (X, Y, Z, RX, RY, RZ) |
- | N, Nm | 0 | A parameter to compensate the sensor detection error. The value smaller than specified here will be disregarded. |
|
| 1053 to 1055 | Impedance control virtual mass 1 (X, Y, Z) |
1 | N | 10 | Determines a reference value of Virtual mass, mentioned above. This value corresponds to 100% of the Virtual mass. |
B |
| 1056 to 1058 | Impedance control virtual mass 1 (RX, RY, RZ) |
kgcm^2 | 1 | |||
| 1059 to 1061 | Impedance control virtual damper 1 (X, Y, Z) |
Ns/m | 2000 | Determines a reference value of Virtual damper, mentioned above. This value corresponds to 100% of the Virtual damper. |
||
| 1062 to 1064 | Impedance control virtual damper 1 (RX, RY, RZ) |
Ncms/rad | 1145.916 | |||
| 1065 to 1067 | Impedance control virtual spring 1 (X, Y, Z) |
N/m | 0 | Determines a reference value of Virtual spring, mentioned above. This value corresponds to 100% of the Virtual spring. |
||
| 1068 to 1070 | Impedance control virtual spring 1 （RX, RY, RZ) |
Ncm/rad | 0 | |||
| 1089 to 1094 | Phase Shift Time (X, Y, Z, RX, RY, RZ) |
- | sec | omitted | Determines a Phase Shift Time. If vibrations are large in some speed, increase the value of this parameter from the default gradually. If vibrations became larger because of that value of parameter, decrease the value of parameter. |
- |
| 1114 | IP address | - | - | 192.168.9.4 | Specify the IP address and port number of force sensor. | D |
| 1115 | port number | - | - | 5001 | - | |
| 1116 to 1118 | Force corresponding value | - | pulse/N | 32 | Hardware setting values for force sensors. refer to "Sensor Setting". |
C |
| 1119 to 1121 | Moment corresponding value | - | pulse/Nm | 1640 | ||
| 1122 | Force sensor force limit | - | N | 200 | ||
| 1123 | Force sensor moment limit | - | Nm | 4 | ||
| 1135 to 1296 | Impedance control virtual mass to Impedance control virtual spring (for parameter table 2 to 10) |
2 to 10 | Refer to above line (1053 to 1070) |
Refer to above line (1053 to 1070) |
For the parameter table number 2 to 10, set above-mentioned items (from "Impedance control virtual mass" to "Impedance control virtual spring"), with the same way as the parameter table number 1. | B |
| 1297 | Force sensor Mass of payload | - | g | 0 | Determines the mass of load, the center of gravity, and the inertia through the center of gravity on the tip of the force sensor. |
C |
| 1298 to 1300 | Force sensor Payload center of gravity （Ix, Iｙ, Iz) | - | mm | 0 |
||
| 1301 to 1303 | Force sensor Payload moment of inertia （Ix, Iｙ, Iz) | - | kgcm^2 | 0 | ||
| 1305 | Force sensor update interval of invalid force control | - | ms | 100 | Determines the sensor value's update interval while the force-control is disabled. | E |
| 1309 | Log Setting | - | - | 0 | Determines whether to save the sensor value while the force-control is disabled. 0: Record only during force control 1: Record anytime |
|
| 1310 | Force sensor force limit | - | N | 0 | Determines the maximum force [N] for the sensor maximum limit check function | C |
| 1311 | Force sensor moment limit | - | Nm | 0 | Determines the maximum moment [Nm] for the sensor maximum limit check function | |
| 1312 | Force sensor limit check | - | - | 0 | Enable/Disable the sensor maximum limit check function | |
| 1314 | Connecting mode | - | - | 0 | Determines the connection method when connecting to the sensor. 0: TCP 1: UDP 2: RS422 |
|
| 1316 | Client Port number | - | - | 0 | Determines the client port number of the sensor. Set the port number of connection method specified by the force control parameter "1314: Connecting mode". (0 to 65535) | |
| 1317 | Force sensor type | - | - | 0 | Determines the force sensor type you use. 0: WACOH 1: ATI 2: SINTOKOGIO refer to "Sensor Setting". |
C |
| 1319 to 1321 | Stiffness level of the contact object (X, Y, Z) | 1 | - | 3 | Determines the stiffness level of a contacted object when force is applied to the direction of each axis (X, Y, Z) in the selected coordinate system. 0: Stiffness level 0 1: Stiffness level 1 2: Stiffness level 2 3: Stiffness level 3 For details, refer to “Parameter Settings for Force Sensor Robust Compliance Control”. |
B |
| 1322 to 1324 | Stiffness level of the contact object (Rx, Ry, Rz) | 1 | - | 1 | Determines the stiffness level of a contacted object when force is applied to the rotational direction of each axis (X, Y, Z) in the selected coordinate system. 0: Stiffness level 0 1: Stiffness level 1 For details, refer to “Parameter Settings for Force Sensor Robust Compliance Control”. |
|
| 1380 | Contact detect force for robust compliance control | - | N | 3.0 | Determines a force threshold to be detected as contact when Force Sensor Robust Compliance Control is used. For details, refer to “Parameter Settings for Force Sensor Robust Compliance Control”. |
C |
| 1381 | Contact detect moment for robust compliance control | - | Nm | 0.2 | Determines a moment threshold to be detected as contact when Force Sensor Robust Compliance Control is used. For details, refer to “Parameter Settings for Force Sensor Robust Compliance Control”. |
ID : 5823