ST_SetFrcAssist
(Statement)
[Version 1.9 or later]
Sets the force assistance under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).
SetFrcAssist <Force assistance along X>, <Force assistance along Y>, <Force assistance along Z>, <Moment assistance about X>, <Moment assistance about Y>, <Moment assistance about Z>
Sets the force assistance along and the moment assistance about X, Y, and Z-axes of a coordinate system specified by ST_SetFrcCoord. The maximum set value is 10% of the maximum force limiting value.
The unit for the force setting is [N]. The unit for the moment setting is [Nm]. Up to one decimal place is 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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Your robot may move toward the direction to which the force assistance and the moment assistance are applied. If this is the case, reduce the set values.
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All the set values for along and around the X, Y and Z-axes will be initialized to 0 after the controller is turned on.
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ST_SetFrcCoord 1
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'Set the force limiting coordinate system to
'the tool coordinate
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ST_SetFrcAssist -30, 0, 0, 0, 0, 0
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'Set the force assistance to 30 [N] toward -X
'direction
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ST_SetFrcLimit 0, 100, 100, 100, 100, 100
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'Set the force limiting rates
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ST_SetCompControl
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'Enable the compliance control function.
'Force limiting in X direction is 0% and a
'force of 30 [N] is applied toward -X
'direction
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