Details on properties of the FollowMove object

  • Name Property
    This property sets a particular name that is assigned to force guide object. When creating the FollowMove object, name is assigned automatically. Automatically assigned name is added a number after FollowMove (e.g. FollowMove01).
    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 (set to 0) the specified output bit.
    On Turn ON (set to 1) the specified output bit.
    Default: Off
  • MotionTrajectory Property
    This property sets trajectory for force guide objects.
    Value
    Description
    Straight Moves in a straight trajectory.
    Arc Moves in an arcing trajectory.
    MultiStraight Moves multiple points continuously in a straight motion.
    MultiStraightCP Moves multiple points continuously in a straight motion while linking the trajectory.
    Default: Straight
  • AccelS Property
    This property sets acceleration of force guide objects. However, this set value is the acceleration for the set trajectory. The actual acceleration is adjusted by the force control functions.
    Value (unit: [mm/sec2])
    Minimum Value 1
    Maximum value 200
    Default: 50
  • AccelR Property
    This property sets rotation acceleration of force guide objects during the execution. However, this set value is the rotation acceleration for the set trajectory. The actual rotation acceleration is adjusted by the force control functions.
    Value (unit: deg/sec2])
    Minimum Value 1
    Maximum value 100
    Default: 10
  • SpeedS Property
    This property sets speed of force guide objects during the execution. However, this set value is the speed for the set trajectory. The actual speed is adjusted by the force control functions.
    Value (unit: [mm/sec])
    Minimum Value 1
    Maximum value 200
    Default: 50
  • SpeedR Property
    This property sets rotation speed of force guide objects during the execution. However, this set value is the rotation speed for the set trajectory. The actual rotation speed is adjusted by the force control functions.
    Value (unit: [deg/sec])
    Minimum Value 1
    Maximum value 25
    Default: 10
  • SpeedRPriority Property
    This property sets whether to prioritize tool orientation changes during force guide object execution.
    When prioritizing tool orientation changes: The robot moves using the SpeedR property.
    When not prioritizing tool orientation changes: The robot moves using the SpeedS property.
    • When Disabled is specified:
      If the moving distance is not "0", the force guide object is executed using the SpeedS property.
      If the moving distance is "0", the SpeedR property is used.
    • When Enabled is specified:
      If the change in orientation is not "0", the force guide object is executed using the SpeedR property.
      If the moving distance is "0", the SpeedS property is used.
    • When AutoDistOrientRatio is specified:
      The force guide object is executed by automatically determining whether to prioritize the SpeedR property based on the moving distance and orientation changes.
    Value
    Description
    Disabled

    Does not give priority to the tool orientation changes.

    Prioritizes the SpeedS property

    Enabled

    Gives priority to the tool orientation changes.

    Prioritizes the SpeedR property

    AutoDistOrientRatio Automatically determines whether to prioritize tool orientation changes based on the moving distance and orientation changes.
    Default: AutoDistOrientRatio

  • CPEnabled Property
    Set enable/disable the path motion.
    Use this property to synthesize the trajectory for multiple force guide objects with movement.

    • When specifying True, path motion is enabled and the program starts the next force guide object when entering into the slowdown zone.
    • When specifying False, path motion is disabled and the program starts the next force guide object after the set trajectory ends.

    However, if the end conditions are set and achieved, the program pauses once when they are achieved and proceeds to the next force guide object.

    Value
    Description
    True Enable the path motion.
    False Disable the path motion.

    Default: False

  • DestType Property
    This property sets the method to specify a destination point of the trajectory.
    When specifying RobotPoint, set the destination point on by point. When specifying Relative, set a relative distance (e.g. 10mm from the start point in the X direction).
    Value
    Description
    RobotPoint Set a point as the destination.
    Relative Set a destination position by relative distance.
    Default: RobotPoint
  • DestPoint Property
    This property sets the point used as the destination point of the trajectory. It is used when specifying RobotPoint in DestType.
    Value
    Minimum Value 0
    Maximum value 999
    Default: 0
  • MidPoint Property
    This property sets the midpoint used for the arc trajectory. It is used when specifying Arc in MotionTrajectory and RobotPoint in DestType.
    Value
    Minimum Value 0
    Maximum value 999
    Default: 0
  • RelativeOrient Property
    This property sets the coordinate system that moves relatively. It is used when specifying Relative in DestType.
    Value
    Description
    Base Specify a relative distance based on the Base coordinate system.
    Local Specify a relative distance based on the Local coordinate system.
    Tool Specify a relative distance based on the Tool coordinate system.
    Default: Tool
  • RelativeRobotLocal Property
    This property sets the number of local coordinate system for the coordinate system that moves relatively. It is used when specifying Relative in DestType and Local in RelativeOrient.
    Value
    Description
    0 (Base)

    Use the Local 0 coordinate system (Base coordinate system).

    It is the same as when specifying Base in RelativeOrient

    1 to 15 Use the Local coordinate system of the specified number.
    Default: 0 (Base)
  • DestRelativeX Property
    For the destination point, this property sets the moving amount in X direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • DestRelativeY Property
    For the destination point, this property sets the moving amount in Y direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • DestRelativeZ Property
    For the destination point, this property sets the moving amount in Z direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • DestRelativeU Property
    For the destination point, this property sets the rotation amount in U direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • DestRelativeV Property
    For the destination point, this property sets the rotation amount in V direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • DestRelativeW Property
    For the destination point, this property sets the rotation amount in W direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • MidRelativeX Property
    For the mid-point, this property sets the moving amount in X direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • MidRelativeY Property
    For the mid-point, this property sets the moving amount in Y direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • MidRelativeZ Property
    For the mid-point, this property sets the moving amount in Z direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • MidRelativeU Property
    For the mid-point, this property sets the rotating amount in U direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • MidRelativeV Property
    For the mid-point, this property sets the rotating amount in V direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • MidRelativeW Property
    For the mid-point, this property sets the rotating amount in W direction of coordinate systems specified by RelativeOrient and RelativeRobotLocal.
    It is used when specifying Arc in MotionTrajectory and Relative in DestType.
    Value (unit: [deg])
    Minimum Value -360
    Maximum value 360
    Default: 0
  • StartPoint Property
    This property sets the start position of the continuous moving trajectory.
    Used when specifying MultiStraight or MultiStraightCP in MotionTrajectory.
    Value
    Minimum Value 0
    Maximum value 999
    Default: 0
  • EndPoint Property
    This property sets the end position of the continuous moving trajectory.
    Used when specifying MultiStraight or MultiStraightCP in MotionTrajectory.
    Value
    Minimum Value 0
    Maximum value 999
    Default: 0
  • 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 all of the enabled end conditions are satisfied, the force guide object execution has been completed and it determined as succeeded.
    Value
    Description
    OR Combine as OR condition.
    AND Combine as AND condition.
    ForceCheckEnabled Property
  • PosCheckEnabled Property
    This property sets the end conditions of the force guide object related to position.
    Value
    Description
    True Enable the end conditions related to position.
    False Disable the end conditions related to position.
    Default: False
  • PosCheckType Property
    For the end conditions related to positions, this property sets whether to use Plane which is defined in advance or set a relative position from the start position of force guide object.
    When specifying RobotPlane, set the end conditions by using the defined Plane. When specifying RelativePlane, reset Plane to the relative position from the force guide object start position each time the force guide object is executed.
    Value
    Description
    RobotPlane Use the defined Plane as the end condition.
    RelativePlane Set Plane to the relative position and use it as the end condition.
    Default: RobotPlane
  • PlaneNumber Property
    This property sets the Plane number of the plane that will be used for end conditions related to position.
    When specifying RobotPlane in the PosCheckType property, Plane of the specified number will not be changed. When specifying Relative in the PosCheckType property, redefine a new Plane to the specified number each time the force guide object is executed. Therefore, note that the original setting will be lost.
    Value
    Minimum Value 1
    Maximum value 15
    Default: 1
  • PlaneEndCond Property
    For the end conditions related to positions, this property sets the conditions to be determined as an end.
    Value
    Description
    Outside Being outside of the Plane is an end condition.
    Inside Being inside of the Plane is an end condition.
    Default: Inside
  • PlaneRelativeOrg Property
    For the end conditions related to positions, this property specifies which coordinate system is used to set the relative position that sets the Plane. It is used when RelativePlane is specified by PosCheckType.
    Value
    Description
    Base Specify a relative position based on the Base coordinate system.
    Local

    Specify a relative position based on the Local coordinate system.

    Local coordinate system number is specified by PlaneRelativeRobotLocal.

    Tool Specify a relative position based on the Tool coordinate system.
    Default: Tool
  • PlaneRelativeX Property
    For the end conditions related to positions, this property sets the relative position in X direction to set Plane.
    It is used when RelativePlane is specified by PosCheckType. X direction follows the coordinate system specified by PlaneRelativeOrg.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • PlaneRelativeY Property
    For the end conditions related to positions, this property sets the relative position in Y direction to set Plane.
    It is used when RelativePlane is specified by PosCheckType. Y direction follows the coordinate system specified by PlaneRelativeOrg.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • PlaneRelativeZ Property
    For the end conditions related to positions, this property sets the relative position in Z direction to set Plane. It is used when RelativePlane is specified by PosCheckType. Z direction follows the coordinate system specified by PlaneRelativeOrg.
    Value (Unit: [mm])
    Minimum Value -2000
    Maximum value 2000
    Default: 0
  • PlaneRelativeOrient Property
    For the end conditions related to positions, this property sets the coordinate system to set Plane.
    It is used when RelativePlane is specified by PosCheckType.
    Plane is set on the axis specified by PlaneAxes, according to the coordinate system specified by PlaneRelativeOrient.
    When specifying Base, Plane is set on axis specified by PlaneAxes in the Base coordinate system.
    When specifying Local, Plane is set on axis specified in PlaneAxes in the Local coordinate system of the number specified by PlaneRelativeRobotLocal.
    When specifying Tool, Plane is set on axis specified by PlaneAxes in the Tool coordinate system.
    Value
    Description
    Base Specify a Plane direction based on the Base coordinate system.
    Local Specify a Plane direction based on the Local coordinate system.
    Tool Specify a Plane direction based on the Tool coordinate system.
    Default: Tool
  • PlaneAxes Property
    For the end conditions related to positions, this property sets the axis to set Plane.
    It is used when RelativePlane is specified by PosCheckType.
    Plane is set on the axis specified by PlaneAxes, according to the coordinate system specified by PlaneRelativeOrient.
    Value
    Description
    XY Set Plane on the XY plane.
    YZ Set Plane on the YZ plane.
    XZ Set Plane on the XZ plane.
    Default: XY
  • PlaneRelativeRobotLocal Property
    For the end conditions related to positions, this property sets Local coordinate system number that specifies the relative position or direction of Plane.
    It is used in either of the following cases: RelativePlane is specified in PosCheckType and Local is specified in PlaneRelativeOrg. RelativePlane is specified in PosCheckType and Local is specified in PlaneRelativeOrient.
    Value
    Description
    0 (Base)

    Use the Local 0 coordinate system (Base coordinate system).

    It is the same as when specifying Base by PlaneRelativeOrg or PlaneRelativeOrient.

    1 to 15 Use the Local coordinate system of the specified number.

Default: 0 (Base)

  • 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

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