get_force_control_state()

Features

It monitors the state of compliance and force control.

Note

For the Non-FTS A/E series, during the compliance and force control state, the rotation directions (rx, ry, rz) operate under the default compliance control settings.

Return

Value	Description
singularity	Risk : 0 < 1 < 2 0 : Safe section 1 : Stage 1 risk section of the singularity area 2 : Stage 2 risk section of the singularity area
mode	Information of 6 modes x, y, z, rx, ry and rz (sequential) 0 : Compliance control 1 : Force control 2 : None
Stx	6 in the order of x, y, z, rx, ry and rz Information of set target stiffness
fd	6 in the order of x, y, z, rx, ry and rz Information of set target force
ref	Information of set target force 0 : Base coordinate 1 : Tool coordinate 2 : World coordinate 101 ~ 120 : User coordinate

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data error
DR_Error (DR_ERROR_VALUE)	Invalid parameter value
DR_Error (DR_ERROR_RUNTIME)	C Extension module error
DR_Error (DR_ERROR_STOP)	Program terminated forcibly

Example

Python

set_ref_coord(DR_BASE)
P0 = posj(0, 0, 90, 0, 90, 0)
movej(P0,vel=30,acc=60)

task_compliance_ctrl()
set_stiffnessx([500, 500, 500, 100, 100, 100], time=0.5)

while True:
    [singularity, mod, stx, fd, ref]=get_force_control_state()
tp_log("s={0}, m={1}, k={2}, f={3}, r={4}".format(singularity,mod,stx,fd,ref))  
    wait(0.5)
release_compliance_ctrl()