ST_SetFrcLimit
(Statement)
[Version 1.9 or later]
Sets the force limiting rates (exclusively designed for 6-axis robots).
ST_SetFrcLimit <Limiting rate along X>, <Limiting rate along Y>, <Limiting rate along Z>, <Limiting rate about X>, <Limiting rate about Y>, <Limiting rate about Z>
Sets the force limiting rates along and about X, Y, and Z axes of a coordinate system specified by ST_SetFrcCoord.
Setting ranges from 0 to 100. Up to two decimal places are valid.
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Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
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This statement is not executable under the compliance control. If this command is executed under the compliance control, Error "60FA Not Executable in compliance control" will result.
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All the set values for along and around the X, Y and Z-axes will be initialized to 100 after the controller is turned on.
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ST_SetFrcCoord 1
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'Set the compliance coordinate system to
'the tool coordinate
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ST_SetFrcLimit 100, 0, 100, 100, 100, 100
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'Set the compliance rates
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ST_SetCompControl
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'Set the compliance rate in Y direction
'of the tool coordinate system to 0% and
'enable the compliance control
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