Try force command samples

OPTIONAL NORMAL 20 MIN

This sample is created in the Task Writer. This sample can be tried almost the same way in the Task Builder.

Caution

• Before trying the sample, make sure to read and follow Precautions for Use. For more information, refer to PART 1. Safety Manual.

• This sample requires the Task Writer file created in Try Compliance command samples.

1. Try Compliance command samples Open the created Task Writer file and select the compliance command on the fourth line of the task list.
2. Select the Property tab.
3. Set the mode as the following: Mode On enables compliance control. Force command is available only when compliance control is enabled.
   • Mode: On
4. Set the default stiffness value as the following:
   1. X, Y, Z: 3000 N/m (default)
   2. Rx, Ry, Rz: 200 Nm/rad (default)
5. Press the Confirm button.
6. Select the Command tab.
7. Add a force command. This command is planned to be used for enabling force control.
   

   

   
   
   
8. Select the sixth line of the task list. 
9. Add a force command. This command is planned to be used for disabling force control.
10. Select the force command from the fifth line of the task list.
11. Select the Property tab.
12. Set the mode as the following: Mode On enables Force Control.
    • Mode: On
13. Set the Desired Force as the following:
    1. X: 0 N (default)
    2. Y: 0 N (default)
    3. Z: -10 N 
    4. Rx, Ry, Rz: 200 Nm/rad (default)
14. Only check Z-axis in the Target Direction.
15. Press the Confirm button.
    

    

    
    
    
16. Select the Force command from the seventh line of the task list.
17. Set the mode as the following: Mode Off disables Force Control.
    • Mode: Off
18. Press the Confirm button.
19. Select the Play tab.
20. Enable the Real Mode toggle button.
    1. Once the toggle button becomes enabled, the button lights up green.
21. Check if the TCP force of each axis is 0. This force value is the size of external force currently applied on the robot end TCP.
22. Press the Play button.
    

    

    
    
    
23. -10N of force is applied on the robot end TCP causing the robot to slowly move in the Z-axis direction.
24. The robot end repels the robot movement in +Z-axis direction, the opposite of the robot movement direction. When the force moving the robot and the force repelling robot movement reach a balance, the robot will maintain its position as if it stopped.
25. If a force greater than +10N is applied on the robot, the robot will comply with the force applied on the robot and move in the force direction.