SetCompJLimit
(Library)
[Version 1.4 or later]
Sets the current limit under the compliance control (special compliance control function library) (dedicated command for 6-axis).
SetCompJLimit (<J1 current limit>, <J2 current limit>, <J3 current limit>, <J4 current limit>, <J5 current limit>, <J6 current limit>)
Sets the current limit under the compliance control. The rated current of a motor corresponds to 100. When you use SetFrcLimit to set 0 to all the directions, the motor currents are limited to values less than the setting.
Setting ranges from 0 to 100.
<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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The set values will be initialized and all the current limits will be 0 after the controller is turned on.
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When you use SetCompJLimit to set relatively large values, your robot may present an oscillation resulting in an error. If this is the case, use SetCompRate and SetDumpRate to adjust the compliance.
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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 SetCompJLimit (30, 0, 0, 0, 0, 0)
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'Sets the current limit for J1 to 30%
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CALL SetFrcLimit (0, 100, 100, 100, 100, 100)
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'Sets the force limiting rates
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CALL SetCompControl
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'Enables the compliance control function.
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