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ID : 5591

ForceChangeTable

Function

Change the force control number used when the force control is performed.

Syntax

ForceChangeTable Force control number

Guaranteed Entry

Force control number
Specify the Force control number (a parameter table number for the compliance function) by integer type data from one to ten.

Description

Change the force control number used when the force control is performed.

Related Terms

ForceCtrl, ForceParam, ForceSensor, ForceValue, ForceWaitCondition

Attention

  • 5-axis robots do not support this command.
  • This command is available only for the compliance function with the force sensor. For the compliance function without the force sensor, the force control number cannot be changed.

Example

'This program performs the pressing motion in the Z direction on 
'the tool coordinate system with the force control.

Sub Main 
  TakeArm Keep = 0
	
  ForceParam 1, 1, P(0,0,30,0,0,0),Rate = P(100,100,100,100,100,100)
  ForceParam 2, 1, P(0,0,5,0,0,0),Rate = P(100,100,100,100,100,100)
	
  'Execute CALSET of the sensor
  ForceSensor 0
	
  Motor On
	
  'Start the force control
  ForceCtrl On, 1
	
  'Wait until the force in Z direction comes to 30N
  ForceWaitCondition Force = P(-1,-1,30,-1,-1,-1)
	
  'Change the force control table from 1 to 2
  ForceChangeTable 2
	
  'End the force control
  ForceCtrl Off
	
End Sub

ID : 5591

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