Features
This function reduces the force control target value to 0 through the time value and returns the task space to adaptive control.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
fTargetTime |
float |
0 |
Time needed to reduce the force Range: 0 - 1.0 |
Return
|
Value |
Description |
|
0 |
Failed |
|
1 |
Success |
Example
C++
Drfl.set_ref_coord(COORDINATE_SYSTEM_TOOL);
float x0[6] = {0, 0, 90, 0, 90, 0};
Drfl.movej(x0, 60, 30);
float stx[6] = {500, 500, 500, 100, 100, 100};
Drfl.task_compliance_ctrl(stx);
float fd[6] = {0, 0, 0, 0, 0, 10};
unsigned char fctrl_dir[6] = {0, 0 ,1, 0, 0, 1};
Drfl.set_desired_force(fd, fctrl_dir);
float x1[6] = {0, 500, 700, 0, 180, 0};
float velx[2] = {60, 60};
float accx[2] = {30, 30};
Drfl.MoveL(x1, velx, accx);
Drfl.release_force(0.5);
Drfl.release_compliance_ctrl();