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ID : 11128
Parameter List
This section describes the details of the parameters for the external force following control function.
Required Settings
| Item name | Units | Range | Default | Details |
|---|---|---|---|---|
| Control mode | - | 2 | 2 | Select a control mode from the following. 2 : External force following function (RC9) |
| Control coordinate | - | 0, 1, 2 | 0 | From the following, select a coordinate system based on which the external force detection will be performed. |
Other Parameters (as Needed)
| Item Name | Units | Range | Default | Details |
|---|---|---|---|---|
| Virtual mass (X, Y, Z) |
% | 0 to 100 | 100 | Determines the ratio of resistance that increases according to the acceleration. Lowering this parameter value allows the robot to move faster. |
| Virtual damper (X, Y, Z) |
% | 0 to 100 | 100 | Determines the ratio of resistance that increases according to the speed. Lowering this parameter value allows the robot to move faster. |
| Position error allowance (X, Y, Z) |
mm | 0 or more | 100 | Determines the allowable servo deviation for the position of the tool end. The function monitors how much distance the tool end has traveled since the force control starts. |
| Joint error allowance (J1 to J6) |
mm, deg | 0 or more | 10 | Determines the allowable servo deviation for each axis. The function monitors how much distance each axis has traveled since the force control starts. This parameter is not available to auxiliary axes (J7 and J8). |
| Control rate (X, Y, Z) |
% | 0 to 100 | 0 | Set the control rate to 100% for the direction to which you will apply the external force control. Set the control rate to 0% for the direction to which you will not. The function can only deal with a force applied in one direction. If the values of multiple control rates are larger than 0, an error occurs. |
| Max speed | mm/s | 100 | Determines the maximum speed to be applied until the robot contacts an object. | |
External force threshold(X, Y, Z) |
N | 100 | This parameter corrects an error detected internally by the robot. The values smaller than specified will be ignored. | |
| Impedance control virtual mass (X, Y, Z) |
kg | 33 | Determines the base value for [Virtual mass], which is mentioned above. This parameter value will be a value to be applied when the parameter above is set to 100%. This parameter will be displayed only when the user level is “Maintainer” or higher. |
|
| Impedance control virtual damper (X, Y, Z) |
Ns/m | 2470 | Determines the base value for [virtual damper], which is mentioned above. This parameter value will be a value to be applied when the parameter above is set to 100%. This parameter will be displayed only when the user level is “Maintainer” or higher. |
ID : 11128