get_force_control_state()
Features
It monitors the state of compliance and force control.
Return
[singularity, mode, stx, fd, ref]
| 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
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()