GetCollisionForce
[Ver. 2.61 or later]
Get the maximum external force.
GetCollisionForce(<joint variable>)
This library assigns the maximum external force detected to a joint variable specified by <joint variable>.
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The maximum external force can be calculated only for joints whose collision detection is enabled when the corresponding motors are ON, in each of Manual and Auto modes.
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In Auto mode, this library assigns the maximum external force calculated in Auto mode; in Manual or Teach check mode, it assigns the one calculated in Manual mode.
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The collision detection function works with the corresponding controller software versions.When using project data older than the controller versions below, see "collision detection functions" in the PROGRAMMER'S MANUAL I.
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VS-G series: Version 2.61 or later
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VS-*** series: Version 3.20 or later
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VM-G, VP-G series: Version 2.70 or later
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HM-G, HS-G series: Version 2.80 or later
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The collision detection function does not work on an old engine board.
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TAKEARM
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'Get robot control priority
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CALL ClearCollisionForce
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'Initialize maximum external force stored
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CALL SetCollisionJnt(2)
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'Enable collision detection for joint 2
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MOVE P, P1, P2
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'Move from point P1 to P2 in PTP motion
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CALL GetCollisionForce(J1)
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'Assign maximum external force calculated
'during move from P1 to P2 to variable J1
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CALL ClearCollisionForce
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'Initialize maximum external force stored
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MOVE P, P2, P3
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'Move from point P2 to P3 in PTP motion
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CALL GetCollisionForce(J2)
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'Assign maximum external force calculated
'during move from P2 to P3 to variable J2
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