SetCompEralw
(Library)
[Version 1.4 or later]
Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control (dedicated command for 6-axis).
SetCompEralw (<Allowable deviation along X>, <Allowable deviation Y>, <Allowable deviation Z>, <Allowable deviation X>, <Allowable deviation Y>, <Allowable deviation Z>)
Sets the allowable deviation values of the position and the posture of the tool tip under the compliance control. The unit for the allowable deviation along X, Y, and Z is (mm), and the unit for the allowable deviation about X, Y, and Z is (degree). Up to one decimal place is valid.
<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 initial values of allowable deviation are 100 (mm) along X, Y, and Z and 30 (degree) about X, Y, and Z. The maximum value about X, Y, and Z axes is 175 (degree). If you set larger values than the maximum value, you will receive an error "6003 Valid range was exceeded".
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If the position or the posture deviation of the tool tip exceeds the allowable value, you will receive an error "60f8 Position deviation under compliance control error".
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The coordinate system used for setting the deviation is the one set by SetFrcCoord. When you specify as SetFrcCoord (1), the setting coordinate system for SetCompEralw is the tool coordinate system.
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CALL SetFrcCoord (2)
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'Sets the force limiting coordinate system to the work
'coordinate system
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CALL SetFrcLimit (100, 0, 100, 100, 100, 100)
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'Sets the force limiting rate for the Y direction of the work
'coordinate system to 0%
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CALL SetCompEralw (10, 150, 10, 5, 5, 5)
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'Sets the allowable deviation values along X and Z of the work
'coordinate to 10 (mm), along Y to 150 (mm), and about X, Y,
'and Z to 5 (degree).
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