Definition
set_stiffnessx(stx, time)
Features
This function sets the stiffness value based on the global coordinate (refer to set_ref_coord()). The stiffness linearly changes for a given time from the current stiffness or default value to STX.The user-defined ranges of the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.
User-defined ranges of stiffness
- M/H/A/P Series: Translation(0~20000N/m), Rotation(0~1000Nm/rad)
- Non-FTS A/E Series: Translation(0~20000N/m)
Caution
In the Non-FTS A & E model, the data type of the stx parameter can be either float[6] or float[3] (rotational stiffness is automatically set to the default value)
Caution
If the command is used in a simulation environment without a robot, it may not operate normally.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
stx |
float[6] |
[500, 500, 500, 100, 100, 100] |
Three translational stiffnesses Three rotational stiffnesses |
|
time |
float |
0 |
Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
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
set_ref_coord(DR_WORLD) # Global coordinate is the world coordinate
q0 = posj(0, 0, 90, 0, 90, 0)
movej(q0, vel=30, acc=30)
task_compliance_ctrl()
stx = [1, 2, 3, 4, 5, 6]
set_stiffnessx(stx) # Set the stiffness value based on the global coordinate(world coordinate)
release_compliance_ctrl()
Related commands
Keyword
set / stiffnessx / set_