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 |
|
vel_limit |
6 in the order of x, y, z, rx, ry and rz Information of set velocity limit |
|
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
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, vel_limit, ref]=get_force_control_state()
tp_log("s={0}, m={1}, k={2}, f={3}, vel_limit={4}, r={5}".format(singularity,mod,stx,fd,vel_limit,ref))
wait(0.5)
release_compliance_ctrl()
Related Commands
Keyword
get / force / control / state / get_ / get_force / get_force_control / force_control_state