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ID : 7389

MC_WriteForceParam

To set parameters for force control function (compliance function).

Graphic expression AOI category
Motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
ForceCtrlNo Integer 1 to 10
Force Control Number
Select a force control number (parameter table number for compliance function) 1 to 10.
CoordinatesNo Integer 0 to 2
Coordinates
Select coordinates.
[0 ： Base coordinates]
[1 ： Tool coordinates]
[2 ： work coordinates]
ForcePosVarNo Integer 0 or larger
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
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
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
Damping
Sets the rate of resistive force, which increases according to speed. Spscify the number of a cartesian coordinate system (Position type) settings.
MassPosVarNo (*) Integer 0 or larger
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
Current Limit Value
Sets the current limit value. Spscify the number of an axes coordinate system (Joint type) settings.
OffSetPosVarNo Integer 0 or larger
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
Allowable Axis Deviation
Sets the allowable servo deviation value of each axis. Spscify the number of an axes coordinate system (Joint type) settings.
RatePosVarNo (*) Integer 0 or larger
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 (*) Real 0 or larger
Maximum Translation Speed
Sets maximum translation speed limit value for the tool end. The unit is "mm/s".
RSpMax (*) Real 0 or larger
Maximum rotation speed
Sets the rotation speed limit value for the tool end. The unit is "deg/s"

* : This function uses only compliance function with force sensor. Not used with the compliance function.

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

-

Attention

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

ID : 7389

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