ST_SetFrcCoord (Statement) [Version 1.9 or later]


Selects a force limiting coordinate system (exclusively designed for 6-axis robots).


ST_SetFrcCoord <Set value>


Selects a coordinate system for force limiting values specified by ST_SetFrcLimit and ST_SetCompRate. You can use a set value 0 for the base coordinate system, a set value 1 for the tool coordinate system, and a set value 2 for the work coordinate system of your robot.



  • Execute this command in a TAKEARMed task that has obtained arm semaphore. If this command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
  • This statement is not executable under the compliance control. If this command is executed under the compliance control, Error "60FA Not Executable in compliance control" will result.
  • When you specify 1 for <Set value> to select the tool coordinate system, the tool coordinate will be the tool coordinate for enabling the compliance control (executing ST_SetCompControl). When you use the changetool command to change the tool coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.
  • When you specify 2 for <Set value> to select the work coordinate system, the work coordinate will be the work coordinate for enabling the compliance control (executing ST_SetCompControl). When you use the changework command to change the work coordinate while the compliance control is enabled, the force limiting coordinate will not be changed.
  • The set value will be initialized to 0 (the base coordinate system) after the controller is turned on.


ST_SetFrcCoord 1
'Set the compliance coordinate system to
'the tool coordinate
Changetool 2
'Set the tool coordinate to tool2
ST_SetFrcLimit 100, 0, 100, 100, 100, 100
'Set the compliance rate
ST_SetCompControl
'Set the compliance rate in Y direction
'of the tool 2 coordinate system to 0% and
'enable the compliance control


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