ST_SetCompEralw
(Statement)
[Version 1.9 or later]
Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control (exclusively designed for 6-axis robots).
ST_SetCompEralw <Allowable deviation along X>, <Allowable deviation Y>, <Allowable deviation Z>, <Allowable deviation X>, <Allowable deviation Y>, <Allowable deviation Z>
Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control. The unit for the allowable deviation along X, Y, and Z is (mm), and the unit for the allowable deviation about X, Y, and Z is (degree). 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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The initial values of allowable deviation are 100 (mm) along X, Y, and Z and 30 (degree) about X, Y, and Z. The maximum value about X, Y, and Z-axes is 175 (degree). If you set larger values than the maximum value, you will receive an error "6003 Excess in effective value range".
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If the position or the posture deviation of the tool tip exceeds the allowable value, you will receive an error "60F8 Compliance deviation excess error".
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The coordinate system used for setting the deviation is the one set by ST_SetFrcCoord. When you specify as STSetFrcCoord 1, the setting coordinate system for ST_SetCompEralw is the tool coordinate system.
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ST_SetFrcCoord 2
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'Set the force limiting coordinate system to
'the work coordinate system
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ST_SetFrcLimit 100, 0, 100, 100, 100, 100
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'Set the force limiting rate for the Y
'direction of the work coordinate system to 0%
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ST_SetCompEralw 10, 150, 10, 5, 5, 5
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'Set the allowable deviation values along X
'and Z of the work coordinate to 10 (mm),
'along Y to 150 (mm), and about X, Y, and Z to
'5 (degree).
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