ID : 11129

ForceCtrl

Function

Determines whether to enable or disable the external force following control function.

Syntax

ForceCtrl Enable/disable, Force Control Number[, Mode = Control mode]

Guaranteed Entry

Enable/disable

Specify enable/disable by integer type data. To enable the function, select a number other than 0. To disable the function, select OFF or 0.

Force Control Number

Select a force control number (parameter table number for the external force following control function) to be used from 1 to 10. Specify the number by integer type data.

The number must be specified when the function is "enabled". The number does not need to be specified when the function is "disabled".

Control mode

Select [Mode=2: External force following control function (RC9)]. [External force following control function (RC9)] will be selected. No other mode is available. This is an optional value when the function is "enabled". The value will be [Mode=0] if not specified. The value does not need to be specified when the function is "disabled".

Description

Determines whether to enable or disable the external force following control function.

Conditions for Enabling the Function

To enable the external force following control function, the following conditions must be satisfied.

The external force following control function is disabled.
The robot is not operating (has not received any motion command).
The motor is on.
The brake check function and the torque check function are disabled.

Conditions for the Function to Be Disabled

If any of the following conditions is satisfied, the external force following control function will be disabled.

This command is executed to disable the function.
A level 1 or higher-level error occurs.
The motor is turned off.
The [Halt] button is pressed on the smart TP.
The stop key is pressed on the mini-pendant.

Related Terms

Attention

This command can be executed only to 6-axis robots.
This command must be executed with a task that has acquired the control of the robot using TakeArm. If the control of the robot has not been acquired, executing this command will cause the error [83501024 Can't take arm semaphore].
If the robot is moved by an external force while the function is enabled, the error [8440451* *Excessive position error] or [8440452* *Excessive position error] may occur. If any of the errors occurs, change the value of the allowable deviation. For how to change the allowable deviation value, refer to ErAlw.

Example

'!TITLE "Enables/disbles the external force following control function."
Sub Sample_ForceCtrl

  TakeArm Keep = 1

  ForceCtrl ON,1   'Enable the external force following control function.
  :
  ForceCtrl OFF    'Disable the external force following control function.
  :
  :
End Sub

ID : 11129

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