| Parameter name |
Data type |
Valid range |
Default |
Omission (*1) |
| AxesGroup |
Integer |
1 or larger |
1 |
No |
- Robot number
- Specify an element number for the variable "Robots[n]" (variable in the data block "DB_DENSO_ROBOTS (DB2990)") mapped to the controlled robot (robot controller).
If a specified value exceeds the valid range, the CPU (PLC) stops.
The maximum valid range value is the maximum element number of the variable "Robots[n]". The default maximum element number is 10 but can be increased or decreased by the user.
|
| Execute |
Boolean |
|
False |
No |
- Execution start
- When the parameter is changed from False to True, this FB is executed.
|
| ForceCtrlNo |
Integer |
1 to 10 |
1 |
Yes |
- Force Control Number
- Select a force control number (parameter table number for compliance function) 1 to 10.
|
| CoordinatesNo |
Integer |
0 to 2 |
0 |
Yes |
- Coordinates
- Select coordinates.
[0 ： Base coordinates]
[1 ： Tool coordinates]
[2 ： work coordinates]
|
| ForcePosVarNo |
Integer |
0 or larger |
0 |
Yes |
- Force
- Force required to control the robot. This value specifies the limit of force to be output. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| PosErAlwPosVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Allowable Position Deviation
- Sets the allowable servo deviation value for the arm end position. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| SpringPosVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Compliance
- Sets the rate of return force strength, which increases according to position. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| DampPosVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Damping
- Sets the rate of resistive force, which increases according to speed. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| MassPosVarNo (*2) |
Integer |
0 or larger |
-1 |
Yes |
- Inertia
- Set the friction ratio (inertia ratio) which increases according to the acceleration. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| CurLmtJntVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Current Limit Value
- Sets the current limit value. Spscify the number of an axes coordinate system (Joint type) settings.
|
| OffSetPosVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Offset Value
- Sets the force value required to lead the robot in a specified direction. Spscify the number of a cartesian coordinate system (Position type) settings. Not used with the compliance function with force sensor.
|
| ErAlwJntVarNo |
Integer |
0 or larger |
-1 |
Yes |
- Allowable Axis Deviation
- Sets the allowable servo deviation value of each axis. Spscify the number of an axes coordinate system (Joint type) settings.
|
| RatePosVarNo (*2) |
Integer |
0 or larger |
-1 |
Yes |
- Control Rate
- Sets the control rate of X-, Y- and Z direction, and all of the rotation angle around the X- , Y- and Z axes. Spscify the number of a cartesian coordinate system (Position type) settings.
|
| SpMax (*2) |
Real |
0 or larger |
-1.0 |
Yes |
- Maximum Translation Speed
- Sets maximum translation speed limit value for the tool end. The unit is "mm/s".
|
| RSpMax (*2) |
Real |
0 or larger |
-1.0 |
Yes |
- Maximum rotation speed
- Sets the rotation speed limit value for the tool end. The unit is "deg/s"
|
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