ResetCurLmt (Library) [Version1.2 or later]


Resets the motor current limit of the specified axis.


ResetCurLmt (<AxisNumber>)


ResetCurLmt releases the drive current limit set for the motor of a joint specified by <JntNumber>. The motor drive current limit and positioning error allowances will revert to the defaults.
[For Ver. 1.4 or earlier]
If you set "0" to <JntNumber>, the drive current limit set for all joints will revert to the default.
[For Ver. 1.5 or later]
If you set "0" to <JntNumber>, the drive current limit set for all joints involved in an arm group semaphore held by the current task running ResetCurLmt, will revert to the default.


Requires <pacman.h> file.



  • When resetting the current limit, this command carries out deviation elimination process. If there is angle deviation due to external force, the time required for deviation elimination process will vary depending upon the set speed and acceleration. To shorten the time, set higher speed and acceleration.
  • The command can be executed even when the motor power is off. For resetting the current limit when motor power is off, run the following program after finishing the task that is obtaining arm-semaphore.
    PRO999
    TAKEARM
    CALL ResetCurLmt(0)
    END
[For Ver. 1.4 or earlier]
Write this library in a TAKEARMed task that has got robot arm semaphore. If you specify any joints not in the arm semaphore to <JntNumber>, then error [21F7 Cannot take arm semaphore] will result.
[For Ver. 1.5 or later]
Write this library in a TAKEARMed task that has got an arm group. If you specify any joints not included in the arm group to <JntNumber>, then error [27D* Cannot take J* semaphore] will result.


CALL ResetCurLmt(0)
'Resets the current limit of all the axes.


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