<< Prev        Next >>

ID : 7578

MC_WriteForceParam

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

Graphic expression FB category
Motion

Input and Output Variable

Variable name Data type Valid range Default Omission (*1)
AxesGroup eRC_AxesGroup No
Robot Group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range Default Omission (*1)
Execute Boolean
  • TRUE : Start
  • FALSE : -
 FALSE No
Execution start
When the variable 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"

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

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

(*2) : 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 (hexadecimal) : The error occurred in the PLC program.
2801 (hexadecimal) : 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 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 : 7578

<< Prev        Next >>