Force Guide 8.0 Command Table

Robot Control Related Commands

FCKeep		Activates the force control function, and when the specified amount of time has elapsed, a stop is executed.
FCEnd		Stops the active force control function.
GetRobotFCOn		Returns the robot number of the robot executing the force control function.
FCOn		Determines if the specified robot is executing the force control function.
FCElapsedTime		Returns the duration after started the force control function of the specified robot.
Move		Activates force control and executes a linear interpolation motion.
TMove		Executes an offset linear interpolation motion in the current tool coordinate system with the force control function active.
BMove		This executes in the local selected coordinate system an offset linear interpolation motion with the force control active.
CVMove		Activates force control and executes a free curve CP motion.
Arc3		Moves the robot in a circular interpolation motion in 3 dimensions with the force control active.
Arc		Moves the robot in a circular interpolation motion in the XY plane with the force control active.
FCSMove		Executes an offset linear interpolation motion in the specified force coordinate system.
F_CheckPos		Returns whether specified position is satisfied trigger condition set in FMR object.

Force Object Related Commands

FGet		This is used when acquiring the properties or status of a force object.
FSet		Used when setting the value of force object properties.
FLoad		Loads all force objects from the disc into the current project.
FSave		Saves all force objects from the current project to the disc.
FExport		Exports the project force files for the project currently selected.
FImport		Imports force files into the currently selected robot project.
FDef		Indicates whether the force object is defined or not.
FDel		Deletes the force object.
FList		Displays a list of objects.
FLabel$		Returns the label for the force object and the force sensor object.
FNumber		Returns the number of the force object by type.

Mass Property Object Related Commands

MPGet		Used when obtaining the Mass Property Object value.
MPSet		Used when setting the Mass Property Object value.
MP		Sets or returns the number for the Mass Property Object to be used.
MPDef		Indicates whether the Mass Property Object is defined or not.
MPDel		Deletes the Mass Property Object.
MPList		Displays a list of Mass Property Objects.
MPNumber		Returns the number of the Mass Property Object.
MPLabel$		Returns the Mass Property Object label.

Coordinate Conversion Related Commands

F_FlangeOffset		This sets or returns the force sensor position and orientation in the Tool 0 (TCP0, J6 flange) coordinate system.
F_GravityDirection		Sets or returns the direction of gravity for the robot.
F_DestPos		Returns the virtual destination position before correction by force control function.
F_RefPos		Returns the current virtual command position f before correction by force control function.
F_OffsetPos		Returns the position of relative movement from the reference point.

Force Guidance Related Commands

FGRun		Executes a force guide sequence.
FGGet		Acquires a result of a force guide sequence or a force guide object.