Features
This function begins task compliance control based on the preset reference coordinate system.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
fTargetStiffness |
float[6] |
[3000, 3000, 3000, 200, 200, 200] |
Three translational stiffnesses Three rotational stiffnesses |
|
eForceReference |
enum.COORDINATE_SYSTEM |
COORDINATE_SYSTEM_TOOL |
Refer to the Definition of Constant and Enumeration Type |
|
fTargetTime |
float |
0 |
Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
|
Value |
Description |
|
0 |
Failed |
|
1 |
Success |
Example
C++
float p0[6] = {0,0,90,0,90,0};
Drfl.movej(p0, 60, 30);
float stx[6] = {3000, 3000, 3000, 200, 200, 200};
Drfl.task_compliance_ctrl(stx);