ID : 221

GrvCtrl

Function

Configure True/False of Gravity Compensation Control Function.

GrvCtrl True/False

True/False: Enable/Disable the servo lock by an integer type data.
To enable this command, enter True or an integer other than 0.
To disable this command, enter False or 0.

This is a command to configure True/False for Gravity Compensation Control Function.

To execute this command, the task must acquire robot axis control.

Gravity Compensation Control Function is not disabled even after release of axis control or task termination. Enable it only if necessary.

Execution of this command during machine lock is ignored.
Execution is not allowed for horizontal robots (4-axis robots).
When you run this command while a robot is moving, the command does not start until the robot fully stops.
While the force control is enabled, the robot can be moved by external force; that may result in the error of this command.
This command is not disabled by turning motor power ON/OFF.
The robot may move unexpectedly if the following two conditions are met;
- The current limit is enabled
- Motor power turns ON with an incorrect mass of payload being set
Set the mass of payload correctly and enable this command only when necessary.

'!TITLE "DENSO Robot Program"
Sub Sample_GrvCtrl
  TakeArm Keep = 1
  GrvCtrl True
  GrvCtrl False
End Sub

ID : 221