Adjustment guideline for FollowMove object

The following describes the adjustment methods when using the FollowMove object.

• When it takes time the force to be "0":
  This is a method of adjustment for when the cause of the applied force is not changed.
  It is an exception when the force is kept applying even the robot moves or the robot keeps moving to an object.
  Decrease the Firmness value of each direction. However, the robot motion may be easy to vibrate. Please perform proper adjustments for your operations.

• When the robot motion vibrates:
  Increase the Firmness value. However, response of the robot will be slow. Please perform proper adjustments for your operations.
  To adjust the Firmness, we recommend changing the value gradually (e.g. increase the value by 10% from its present state).

• When the robot does not reach to the destination point:
  If the direction where the force control functions are not enabled is not reached to the destination point, it may be affected by the LimitAccel or LimitSpeed of the force guide sequence. Increase the value.
  Also, in low power mode, it is restricted according to the maximum speed or maximum acceleration of the low power mode even the value of LimitSpeed or LimitAccel is large. Be sure to execute in high power mode.