SetExtForceDetect
[Ver. 2.61 or later]
Enable/disable detection of external force.
SetExtForceDetect(<value>)
This library enables or disables detection of external force if <value> is "1" (default) or "0," respectively.
Requires file <pacman.h>
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<value> should be "0" or "1." Any other value results in an error.
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The default of <value> is "1" (Enable). Even if <value> is set to "0" (Disable), it will revert to "1" by switching between Manual and Auto modes or by restarting the robot controller.
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Unlike SetCollisionJoint or ResetCollisionJoint, this library does not enable or disable collision detection. Disabling detection of external force with this library does not update maximum external forces stored even if the robot detects greater external force than the one stored. Use this library when checking the maximum external force in a particular zone.
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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 SetExtForceDetect(0)
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'Disable detection of external forces
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CALL ClearCollisionForce
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'Initialize the maximum external force
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CALL SetCollisionJnt(3)
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'Enable collision detection for joint 3
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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 SetExtForceDetect(1)
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'Enable detection of external forces
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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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