Details on properties of the Relax object

  • Name Property
    This property sets a particular name that is assigned to force guide object. When creating the Relax object, name is assigned automatically. Automatically assigned name is added a number after Relax (e.g. Relax01).
    You can change the name. Set up 16 characters at the maximum. Please use alphanumeric characters and underscores [_]. Note: The initial character cannot be a numeric character.
  • Description Property
    This property sets descriptions about force guide objects. You can set the character string up to 255 characters.
  • Enabled Property
    This property sets whether to enable force guide objects.
    When specifying True, the force guide object is executed. When specifying False, execute the next force guide object without executing the force guide object.
    Use this property when you want to save the force guide sequence temporary or try with different parameters by copying the force guide object during the force guide sequence creation.
    Value
    Description
    True Enable a force guide object.
    False Disable a force guide object.
    Default: True
  • StepID Property
    This property sets StepID during the execution of the force guide objects. It is only used when AutoStepID is False.
    Value
    Minimum Value 0
    Maximum value 32767
    Default: Automatically set according to the numbers of the force guide sequence and the force guide object.
  • AbortSeqOnFail Property
    This property sets operations when force guide object fails.
    When True is specified: If the force guide object fails, the program ends the force guide sequence and proceeds to the next SPEL statement. When specifying False: If force guide object fails, the program proceeds to the next force guide object without ending the force guide sequence.
    Use this property when you want to continue the force guide sequence (e.g. the recovery processes are included in the force guide sequence when the force guide object fails.)
    Value
    Description
    True Abort the force guide sequence when the force guide object fails.
    False Start the next force guide sequence when the force guide object fails.
    Default: True
  • IOPreprocEnabled Property
    This property sets I/O operations when the force guide object starts.
    I/O operations are defined by IOPreprocOutputBit Property and IOPreprocOutputStatus Property. Use this property when you want to operate the hands or peripherals before the force guide object execution.
    Value
    Description
    True Execute I/O operation at the start.
    False I/O operation at the start is not executed.
    Default: False
  • IOPreprocOutputBit Property
    This property sets I/O operations (output bit) when the force guide object starts. It is only used when IOPreprocEnabled is True.
    Value
    Minimum Value 0
    Maximum value 7167
    Default: 0
  • IOPreprocOutputStatus Property
    This property sets the output state of I/O operations when the force guide object starts. It is only used when IOPreprocEnabled is True.
    Value
    Description
    Off Turn OFF the specified output bit. (Set to 0)
    On Turn ON the specified output bit. (Set to 1)
    Default: Off
  • Fx_ControlMode Property
    Set the control mode in Fx direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions to Fx direction are not executed. When specifying Follow, the force control functions to Fx direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Fx_Firmness Property
    This property sets a firmness of force control functions in Fx direction during the execution of force guide object. It is used when Fx_ControlMode is Follow.
    When the value of Fx_Firmness increases, the force control function in the Fx direction will become stronger. Response to changes in force is slow; however, vibration rarely occurs. When Fx_Firmness decreases, the force control function in the Fx direction will become weaker. Response to changes in force becomes faster; however, vibrations easily occur.
    Value
    Minimum Value 0.1
    Maximum value 200
    Default: 10
  • Fy_ControlMode Property
    Set the control mode in Fy direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions to Fy direction are not executed. When specifying Follow, the force control functions to Fy direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Fy_Firmness Property
    This property sets a firmness of force control functions in Fy direction during the execution of force guide object. It is used when Fy_ControlMode is Follow.
    When the value of Fy_Firmness increases, the force control function in Fy direction will become stronger. Response to changes of the force is slow, however, vibration hardly occurs. When Fy_Firmness decreases, the force control function in Fy direction will become weaker. Response to changes of the force is fast, however, vibration is easy to occur.
    Value
    Minimum Value 0.1
    Maximum value 200
    Default: 10
  • Fz_ControlMode Properties
    Set the control mode in Fz direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions to Fz direction are not executed. When specifying Follow, the force control functions to Fz direction is executed as the follow mode. In the follow mode, the robot moves so that the external force will be "0". Therefore, when the external force is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Fz_Firmness Property
    This property sets a firmness of force control functions in Fz direction during the execution of force guide object.
    It is used when Fz_ControlMode is Follow.
    When the value of Fz_Firmness increases, the force control function in Fz direction will become stronger. Response to changes in force is slow; however, vibration rarely occurs. When Fz_Firmness decreases, the force control function in Fz direction will become weaker. Response to changes of the force is fast, however, vibration is easy to occur.
    Value
    Minimum Value 0.1
    Maximum value 200
    Default: 10
  • Tx_ControlMode Property
    Set the control mode in Tx direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions in the Tx direction are not executed. When specifying Follow, the force control functions to Tx direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Tx_Firmness Property
    This property sets a firmness of force control functions in Tx direction during the execution of force guide object. It is used when Tx_ControlMode is Follow.
    When the value of Tx_Firmness increases, the force control function in Tx direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Tx_Firmness decreases, the force control function to Tx direction will become weaker. Response to changes of the torque is fast, however, vibration is easy to occur.
    Value
    Minimum Value 10
    Maximum value 1000000
    Default: 3000
  • Ty_ControlMode Property
    Set the control mode in Ty direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions in the Ty direction are not executed. When specifying Follow, the force control functions to Ty direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Ty_Firmness Property
    This property sets a firmness of force control functions in Ty direction during the execution of force guide object. It is used when Ty_ControlMode is Follow.
    When the value of Ty_Firmness increases, the force control function in Ty direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Ty_Firmness decreases, the force control function to Ty direction will become weaker. Response to changes of the torque is fast, however, vibration is easy to occur.
    Value
    Minimum Value 10
    Maximum value 1000000
    Default: 3000
  • Tz_ControlMode Property
    Set the control mode in Tz direction in the coordinate system specified by ForceOrient of the force guide sequence.
    When specifying Disabled, the force control functions to Tz direction are not executed. When specifying Follow, the force control functions to Tz direction is executed as the follow mode. In the follow mode, the robot moves so that the external torque will be "0". Therefore, when the external torque is applied, the robot moves to follow it.
    Value
    Description
    Disabled Disable the force control functions.
    Follow The force control functions are executed to perform the Follow motion.
    Default: Disabled
  • Tz_Firmness Property
    This property sets a firmness of force control functions in Tz direction during the execution of force guide object. It is used when Tz_ControlMode is Follow.
    When the value of Tz_Firmness increases, the force control function in Tz direction will become stronger. Response to changes of the torque is slow, however, vibration hardly occurs. When Tz_Firmness decreases, the force control function to Tz direction will become weaker. Response to changes of the torque is fast, however, vibration is easy to occur.
    Value
    Minimum Value 10
    Maximum value 1000000
    Default: 3000
  • CFEnabled Property
    This property sets whether to continue the force control functions after the force guide object is ended. When the force guide sequence ends even if CFEnabled is True, the force control functions will end.
    Value
    Description
    True The force control functions continue to the next force guide object even when a force guide object is ended.
    False The force control functions end when the force guide object is ended.
    Default: False
  • EndCheckOperator Property
    This property sets the combination conditions when using several end conditions of the force guide object.
    When specifying AND, if all of the enabled end conditions are satisfied, the force guide object execution ends. The execution is deemed successful, and it proceeds to the next force guide object. When specifying OR, if some of the enabled end conditions are satisfied, the force guide object execution ends. The execution is determined as succeeded and proceed to the next force guide object.
    Value
    Description
    OR Combine as OR condition.
    AND Combine as AND condition.
    ForceCheckEnabled Property
  • ForceCheckEnabled Property
    For the force guide object end conditions, this property sets conditions related to force.
    Value
    Description
    True Enable the end conditions related to force.
    False Disable the end conditions related to force.
    Default: False
  • FollowCheckTolF Property
    This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True.
    It is used in the axis that specified Follow by each ControlMode in Fx, Fy, and Fz, and determined that it is within the range of -FollowCheckTolF to + FollowCheckTolF.
    If all axes specified Follow are within the range set by either FollowCheckTolF or FollowCheckTolT, it is determined as the end conditions are satisfied.
    Value (unit: [N])
    Minimum Value 0.1
    Maximum value 10
    Default: 1
  • FollowCheckTolT Property
    This property sets the range of the end conditions related to force. It is used when ForceCheckEnabled is True.
    It is used in the axis that specified Follow by each ControlMode in Tx, Ty, and Tz, and determined that it is within the range of -FollowCheckTolF to +FollowCheckTolF. If all axes specified Follow are within the range set by either FollowCheckTolF or FollowCheckTolT, it is determined as the end conditions are satisfied.
    Value (unit: [N・mm])
    Minimum Value

    If the sequence version is 7.5.1: 1

    If the sequence version is 7.4.0: 100

    Maximum value 10000
    Default: 500
  • HoldTimeThresh Property
    This property sets the duration time until the determination of the end conditions related to force. It is used when ForceCheckEnabled is True.
    If the state within the range specified by either FollowCheckTolF or FollowCheckTolT continues for the time specified by HoldTimeThresh, it is determined as the end conditions are satisfied.
    Value (unit: [sec])
    Minimum Value 0
    Maximum value 10
    Default: 0
  • IOCheckEnabled Property
    This property sets the end conditions of the force guide object related to I/O.
    Value
    Description
    True Enable the end conditions related to I/O.
    False Disable the end conditions related to I/O.
    Default: False
  • IOCheckInputBit Property
    This property sets the bit of determination target of the end conditions related to I/O. It is used when IOCheckEnabled is True.
    Value
    Minimum Value 0
    Maximum value 7167
    Default: 0
  • IOCheckInputStatus Property
    This property sets the determination conditions of the end conditions related to I/O. It is used when IOCheckEnabled is True.
    According to the bit specified by IOCheckInputBit, it is determined as the end conditions are satisfied.
    Value
    Description
    Off When the input bit is OFF (0), it is determined as the end conditions are satisfied.
    On When the input bit is ON (1), it is determined as the end conditions are satisfied.
    Default: Off
  • Timeout Property
    This property sets the time-out period of the force guide object.
    When it is not satisfied conditions enabled in ForceCheckEnabled or IOCheckEnabled after the time specified by Timeout has passed, it is determined as failure of the Relax object.
    After the determination, end the force guide sequence according to AbortSeqOnFail or proceed to the next force guide object.
    When ForceCheckEnabled and IOCheckEnabled are False, end the force guide object after the time specified by Timeout is passed. It is determined as succeeded and proceed to the next force guide object.
    Value (unit: [sec])
    Minimum Value 0.1
    Maximum value 60
    Default: 10

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