ST_SetDampRate
(Statement)
[Version 1.9 or later]
Sets the damping rates under the compliance control (exclusively designed for 6-axis robots).
ST_SetDampRate <DampRate along X>, <DampRate along Y>, <DampRate along Z>, <DampRate about X>, <DampRate about Y>, <DampRate about Z>
Sets the damping rates along and about X, Y, and Z axes on the coordinate system specified by ST_SetFrcCoord.
The entry range is from 0 to 100. Zero gives the maximum damping. 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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When the controller is turned on, all the damping rates will revert to the initial values (100).
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Do not set the damping rates to less than the compliance rates specified by the ST_SetCompRate. Doing so will cause the robot to vibrate; in some cases, the robot will stop due to an error.
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If the ST_SetCompRate is executed after execution of the ST_SetDampRate, then the damping rates will change to the setting made by ST_SetCompRate.
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ST_SetFrcCoord 1
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'Set the compliance coordinate system to
'the tool coordinate system
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ST_SetCompRate 100, 0, 100, 100, 100, 100
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'Set the compliance rate
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ST_SetDampRate 100, 20, 100, 100, 100, 100
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'Set the damping rate
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ST_SetCompControl
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'Set the compliance rate and the damping rate
'in Y direction of the tool coordinate system
'to 0% and 20%, respectively, and enable the
'compliance control
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