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ID : 7579

MC_SetForceCtrl

To enable the force control function (Compliance function).

Graphic expression FB category
Motion

Input and Output Variable

Variable name Data type Valid range Default Omission (*)
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 (*)
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.
CtrlMode Integer 0, 1 -1 Yes
Control mode

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

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

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

Output Variable

Variable 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 : 7579

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