SetFrcAssist
(Library)
[Version 1.4 or later]
Sets the force assistance under the compliance control (special compliance control function library) (dedicated command for 6-axis).
SetFrcAssist (<Force assistance along X>, <Force assistance along Y>, <Force assistance along Z>, <Moment assistance about X>, <Moment assistance about Y>, <Moment assistance about Z>)
Sets the force assistance along and the moment assistance about X, Y, and Z axes of a coordinate system specified by SetFrcCoord. The maximum set value is 10% of the maximum force limiting value.
The unit for the force setting is [N]. The unit for the moment setting is [Nm]. Up to one decimal place is valid.
<pacman.h> is required.
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Execute this command in a task holding robot control conditions (TAKEARM). If robot control conditions are not held, an error message "21F7 Arm semaphore cannot be fetched." is reported.
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Your robot may move toward the direction to which the force assistance and the moment assistance are applied. If this is the case, reduce the set values.
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All the set values for along and around the X, Y and Z axes will be initialized to 0 after the controller is turned on.
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CALL SetFrcCoord (1)
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'Sets the force limiting coordinate system to the tool
'coordinate
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CALL SetFrcAssist (-30, 0, 0, 0, 0, 0)
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'Sets the force assistance to 30 [N] toward -X direction
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CALL SetFrcLimit (0, 100, 100, 100, 100, 100)
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'Sets the force limiting rates
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CALL SetCompControl
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'Enables the compliance control function. Force limiting
'in X direction is 0% and a force of 30 [N] is applied toward
'-X direction
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