SetFrcLimit
(Library)
[Version 1.4 or later]
Sets the force limiting rates (dedicated command for 6-axis).
SetFrcLimit (<Limiting rate along X>, <Limiting rate along Y>, <Limiting rate along Z>, <Limiting rate about X>, <Limiting rate about Y>, <Limiting rate about Z>)
Setting ranges from 0 to 100. Up to two decimal places are valid.
Sets the force limiting rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord.
<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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All the set values for along and around the X, Y and Z axes will be initialized to 100 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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CALL SetFrcLimit (100, 0, 100, 100, 100, 100)
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'Sets the force limiting rates
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CALL SetCompControl
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'Sets the force limiting rate in Y direction of the tool
'coordinate system to 0% and enables the compliance control
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