SetVibControl
(Library)
[Version 1.4 or later]
Sets to the residual vibration reduction control mode (dedicated command for 6-axis).
SetVibControl
Switches to the residual vibration reduction control mode and reduces the residual vibration when robot stops its motion.
<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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If you execute SetVibControl while using SetEralw to change the allowable angle deviation, the allowable angle deviation will be initialized. Use SetEralw to set the allowable angle deviation again.
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The path precision will decrease due to motion follow-up delay in the residual vibration reduction control mode. Avoid this mode when the path precision is required.
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When you execute SetVibControl during a path motion, the library is executed after the motion stops. Thus, this will be an execution after stop.
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CALL SetVibControl
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'Sets to the residual vibration reduction control mode
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