<< Prev        Next >>

ID : 3153

MC_SetForceCtrl

To enable the force control function (Compliance function).

Graphic expression FB No. FB category
FB2021 Motion

Input parameter

Parameter name Data type Valid range Default Omission (*)
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
  • True : Start
  • False : -
 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.
CtrlMode Integer 0, 1 -1 Yes
Control mode

Set [0 : Compliance function] or [1 : Compliance Function with Force Sensor].

(*) : For some parameters, entries can be omitted.

  • Yes : Entry can be omitted.
  • No : Entry required always.

Output parameter

Parameter name Data type / Description
Done Boolean
Execution completion confirmation
True : This FB execution is completed.
False : This FB execution is not completed.
Busy Boolean
Processing status of this FB
True : Being executed.
False : Not being executed.
Error Boolean
Error presence
True : This FB ended abnormally.
False : This FB ended successfully.
ErrorID Word
Error location
2800 (hexadecimal) : The error occurred in the PLC program.
2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx DWord
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function description

The force control function provides control over the robot's force. The force control function has two types.

Compliance Function A function that controls robots' and its accompanied tools' behavior flexibly against external affects.
Compliance Function with Force Sensor A function that controls the pressure applied on the robot's tool end constantly by using the force sensor.

Attention

To execute this FB, FB with the FB category "Motion" needs to be made executable.
To make FB with the FB category "Motion" executable, use the FB "MC_Power".

ID : 3153

<< Prev        Next >>