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ID : 7390

MC_SetForceCtrl

To enable the 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.
CtrlMode Integer 0,1
Control mode
Set [0 : Compliance function] or [1 : Compliance Function with Force Sensor].

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

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 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 : 7390

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