CDRFLEx.set_desired_force

Features

This function defines the target force, direction, translation time, and mode for force control based on the global coordinate(refer to set_ref_coord).

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetForce	float[6]	-	Three translational target forces Three rotational target moments
iTargetDirection	unsigned char[6]	-	Force control in the corresponding direction if 1 Compliance control in the corresponding direction if 0
eForceReference	enum.COORDINATE_SYSTEM	COORDINATE_SYSTEM_TOOL	Refer to the Definition of Constant and Enumeration Type
fTargetTime	float	0	Transition time of target force to take effect [sec] Range: 0 - 1.0
eForceMode	enum.FORCE_MODE	FORCE_MODE_ABSOLUTE	Refer to the Definition of Constant and Enumeration Type

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);