ST_SetCompJLimit
(Statement)
[Version 1.9 or later]
Sets the current limit under the compliance control (special compliance control function statement) (exclusively designed for 6-axis robots).
ST_SetCompJLimit <J1 current limit>, <J2 current limit>, <J3 current limit>, <J4 current limit>, <J5 current limit>, <J6 current limit>
Sets the current limit under the compliance control. The rated current of a motor corresponds to 100. When you use SetFrcLimit to set 0 to all the directions, the motor currents are limited to values less than the setting.
Setting ranges from 0 to 100.
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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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The set values will be initialized and all the current limits will be 0 after the controller is turned on.
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When you use ST_SetCompJLimit to set relatively large values, your robot may present an oscillation resulting in an error. If this is the case, use ST_SetCompRate and ST_SetDumpRate to adjust the compliance.
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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_SetCompJLimit 30, 0, 0, 0, 0, 0
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'Set the current limit for J1 to 30%
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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.
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