task_compliance_ctrl(stx, time)
Features
This function begins task compliance control based on the preset reference coordinate system.
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.
Caution
If the command is used in a simulation environment without a robot, it may not operate normally.
Parameters (Stiffness TBD)
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
stx | float[6] | [3000, 3000, 3000, 200, 200, 200] | Three translational stiffnesses Three rotational stiffnesses |
time | float | 0 | Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Caution
In the Non-FTS A model, the data type of the stx parameter is changed to float[3] (rotational stiffness cannot be input)
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
PY
P0 = posj(0,0,90,0,90,0)
movej(P0)
task_compliance_ctrl() # Begins with the default stiffness
set_stiffnessx([500, 500, 500, 100, 100, 100], time=0.5)
# Switches to the user-defined stiffness for 0.5 sec.
release_compliance_ctrl()
task_compliance_ctrl([500, 500, 500, 100, 100, 100])
# Begins with the user-defined stiffness.
release_compliance_ctrl()