set_damping_factor()

Definition

set_damping_factor(damping_factor, time)

Features

In force control, This function sets the damping factor based on the global coordinate (refer to set_ref_coord())

Caution

In non-FTS models (A0509, A0912, A0509F, A0912F, E0509), compliance control is only possible in the translation direction, and the control error may be large.

Parameters

Parameter Name	Data Type	Default Value	Description
damping_factor	float[6]	[1.0, 1.0, 1.0, 1.0, 1.0, 1.0]	(Translation x, y, z), (Rotation x, y, z) Range: 0.1 - 2.0
time	float	0	Damping factor varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time

Parameter Name

Data Type

Default Value

Description

damping_factor

float[6]

[1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

(Translation x, y, z), (Rotation x, y, z)

Range: 0.1 - 2.0

time

float

Damping factor varying time [sec]

Range: 0 - 1.0

* Linear transition during the specified time

Caution

In the Non-FTS A & E model, the data type of the damping_factorparameter can be either float[6] or float[3] (rotational parameter is automatically set to the default value)

Note

When the damping factor is set to the default value (1.0), it operates with the default damping value set according to the robot model.
When the damping factor is set, a value proportional to the default damping value is applied during force control.
The damping factor is applied only during force control. It is applied as a default value for compliance control.
This function is supported only for the M series. It cannot be used for A series and H series.

Warning

If the damping factor is set to less than 1.0, the robot may vibrate depending on the contact surface. Please use it carefully.

Return

Value	Description
0	Success
Negative value	Error

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred
DR_Error (DR_ERROR_VALUE)	Parameter value is invalid
DR_Error (DR_ERROR_RUNTIME)	C extension module error occurred
DR_Error (DR_ERROR_STOP)	Program terminated forcefully

Example

Python

# 1. Move to initial posj
q0 = posj(0.0, 0.0, 90.0, 0.0, 90.0, 0.0)
set_velj(30.0)
set_accj(60.0)
movej(q0)

# 2. Start force control (apply -20N force along Base–z direction)
k_d = [3000.0, 3000.0, 3000.0, 200.0, 200.0, 200.0]
task_compliance_ctrl(k_d)
force_desired = 20.0
f_d = [0.0, 0.0, -force_desired, 0.0, 0.0, 0.0]
f_dir = [0, 0, 1, 0, 0, 0]
d_f = [1.0, 1.0, 0.8, 1.0, 1.0, 1.0]
set_desired_force(f_d, f_dir)
set_damping_factor(d_f)
wait(2.0)
release_force()
wait(0.5)
release_compliance_ctrl()