ResetGravity
(Library)
[Version1.2 or later]
Disables the balance setting between the limited motor torque and gravity torque, which is made with SetGravity.
ResetGravity
This command disables the balance setting between the motor torque limited by the current limit function and gravity torque.
Requires <pacman.h> file.
-
Write this command in a TAKEARMed task that has obtained arm-semaphore. If this command is executed without arm-semaphore obtained, Error 21F7 will result.
-
If this command is executed when the current limit function is enabled, Error 665b will result. Disable the current limit function and then try it again.
-
If you set the gravity offset setting to "0" on the teach pendant, the gravity offset function becomes disabled. If you do it when the current limit function is enabled, Error 665b will result, as in step (2).
|
CALL ResetGravity
|
|