SetDampRate
(Library)
[Version 1.4 or later]
Sets the damping rates under the compliance control (dedicated command for 6-axis).
SetDampRate (<Damping rate along X>, <Damping rate along Y>, <Damping rate along Z>, <Damping rate about X>, <Damping rate about Y>, <Damping rate about Z>)
Sets the damping rates along and about X, Y, and Z axes of a coordinate system specified by SetFrcCoord.
Setting ranges from 0 to 100 and 0 gives the maximum damping. Up to two decimal places are 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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This library is not available while the compliance control is enabled. When you execute this library under the compliance control, you will receive an error "60fa Compliance control is enabled".
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All the set values for along and around the X, Y and Z axes will be initialized to 100 after the controller is turned on.
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Execute this function on a task that obtains the robot control right (TAKEARM). If the robot control right is not obtained, error message "21F7 Arm semaphore cannot be fetched." is reported.
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If you execute SetCompRate after SetDampRate, the compliance rates are altered to the setting by SetCompRate.
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CALL SetFrcCoord (1)
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'Sets the force limiting coordinate system to the tool
'coordinate system
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CALL SetCompRate (100, 0, 100, 100, 100, 100)
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'Sets the compliance rate
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CALL SetDampRate (100, 20, 100, 100, 100, 100)
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'Sets the damping rate
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CALL SetCompControl
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'Sets the compliance rate and the damping rate in Y direction
'of the tool coordinate system to 0% and 20% respectively and
'enables the compliance control
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