SetCompRate
(Library)
[Version 1.4 or later]
Sets the compliance rates under the compliance control (dedicated command for 6-axis).
SetCompRate (<Compliance along X>, <Compliance along Y>, <Compliance along Z>, <Compliance about X>, <Compliance about Y>, <Compliance about Z>)
Sets the compliance rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord.
Setting ranges from 0 to 100 and 0 gives the maximum compliance. Up to two decimal places are valid.
<pacman.h> is required.
-
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.
-
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".
-
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.
|
CALL SetFrcCoord (1)
|
'Sets the force limiting coordinate system to the tool
'coordinate
|
|
CALL SetCompRate (100, 0, 100, 100, 100, 100)
|
|
|
|
'Sets the compliance rate
|
|
CALL SetCompControl
|
'Sets the compliance rate in Y direction of the tool
'coordinate system to 0% and enables the compliance control
|