Denso RC5 Specifications download pdf (Page 369)

100

101

Chapter 12 Robot Control Statements

12-93

ST_SetFrcAssist (Statement) [Ver.1.9 or later]

Function

Sets the force assistance under the compliance control (special compliance control

function statement) (exclusively designed for 6-axis robots).

Format

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>

Explanation

Sets the force assistance along and the moment assistance about X, Y, and Z-axes

of a coordinate system specified by ST_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.

Related Terms

ST_ResetFrcAssist, ST_SetFrcCoord, ST_SetCompControl

Notes

(1) 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.

(2) 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.

(3) 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.

Example

ST_SetFrcCoord 1 'Set the force limiting coordinate system to

'the tool coordinate

ST_SetFrcAssist -30, 0, 0, 0, 0, 0

'Set the force assistance to 30 [N] toward -X

'direction

ST_SetFrcLimit 0, 100, 100, 100, 100, 100

'Set the force limiting rates

ST_SetCompControl 'Enable the compliance control function.

'Force limiting in X direction is 0% and a

'force of 30 [N] is applied toward -X

'direction

1 2 ... 364 365 366 367 368 369 370 371 372 373 374 ... 691 692

Comments to this Manuals

No comments

Denso RC5 Specifications Page 369

Comments to this Manuals

Related products and manuals for Robotics Denso RC5