SetFrcCoord
(Library)
[Version 1.4 or later]
Selects a force limiting coordinate system (dedicated command for 6-axis).
SetFrcCoord(<Set value>)
Selects a coordinate system for force limiting values specified by SetFrcLimit and SetCompRate. You can use a set value 0 for the base coordinate system, a set value 1 for the tool coordinate system, and a set value 2 for the work coordinate system of your robot.
<pacman.h> is required.
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Execute this command in a task holding robot control conditions (TAKEARM). If robot control conditions are not held, an error message "21F7 Arm semaphore cannot be fetched." is reported.
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This library is not available while the compliance control is enabled. When you execute this library under the compliance control, you will receive an error "60fa Compliance control is enabled".
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When you specify 1 for <Set value> to select the tool coordinate system, the tool coordinate will be the tool coordinate for enabling the compliance control (executing SetCompControl). When you use the changetool command to change the tool coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.
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When you specify 2 for <Set value> to select the work coordinate system, the work coordinate will be the work coordinate for enabling the compliance control (executing SetCompControl). When you use the changetool command to change the work coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.
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The set value will be initialized to 0 (the base coordinate system) after the controller is turned on.
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CALL SetFrcCoord (1)
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'Sets the force limiting coordinate system to the tool
'coordinate
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Changetool 2
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'Sets the tool coordinate to tool2
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CALL SetFrcLimit (100, 0, 100, 100, 100, 100)
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'Sets the force limiting rate
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CALL SetCompControl
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'Sets the force limiting rate in Y direction of the tool 2
'coordinate system to 0% and enables the compliance control
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