Force motion restriction function

The force motion restriction function is a function to detect that the position and posture of the robot have reached the set conditions and branches the process.
The force motion restriction function can be used with the following commands.

Command:

Till, Wait, Trap, Find

The followings are performed by this command:

• Reaches the specified position and stops the operation
• Performs more reliable assembly work by detecting changes in position and posture during force control motion
• Detects that the set area has been exceeded and handles the error