FC (Force Control) Object

Description
This object (collectively) is used to fix the movement properties when executing the force control function.

Range
FC0 to FC999

CoordinateSystem	Sets or returns the force coordinates.
Fx_Enabled, Fy_Enabled, Fz_Enabled	Independently activates/inactivates, or returns the force control function of the translational direction.
Tx_Enabled, Ty_Enabled, Tz_Enabled	Independently activates/inactivates, or returns the force control function of the rotational direction.
Enabled	Activates/inactivates, or returns the force control function for each axis collectively.
Fx_Mass	Sets or returns the virtual coefficient of inertia for the force control on the X axis in the direction of the translational force.
Fx_Damper	Sets or returns the virtual coefficient of viscosity for the force control on the X axis in the direction of the translational force.
Fx_Spring	Sets or returns the virtual coefficient of elasticity for the force control on the X axis in the direction of the translational force.
Fx, Fy, Fz, Tx, Ty, Tz	Sets or returns the virtual coefficient of elasticity, the virtual coefficient of viscosity, and the virtual coefficient of inertia for the force control on the specified axis of the force coordinates.
Fy_Mass	Sets or returns the virtual coefficient of inertia for the force control on the Y axis in the direction of the translational force.
Fy_Damper	Sets or returns the virtual coefficient of viscosity for the force control on the Y axis in the direction of the translational force.
Fy_Spring	Sets or returns the virtual coefficient of elasticity for the force control on the Y axis in the direction of the translational force.
Fz_Mass	Sets or returns the virtual coefficient of inertia for the force control on the Z axis in the direction of the translational force.
Fz_Damper	Sets or returns the virtual coefficient of viscosity for the force control on the Z axis in the direction of the translational force.
Fz_Spring	Sets or returns the virtual coefficient of elasticity for the force control on the Z axis in the direction of the translational force.
Tx_Mass	Sets or returns the virtual coefficient of inertia for the force control in the rotational direction around the X axis.
Tx_Damper	Sets or returns the virtual coefficient of viscosity for the force control in the rotational direction around the X axis.
Tx_Spring	Sets or returns the virtual coefficient of elasticity for the force control in the rotational direction around the X axis.
Ty_Mass	Sets or returns the virtual coefficient of inertia for the force control in the rotational direction around the Y axis.
Ty_Damper	Sets or returns the virtual coefficient of viscosity for the force control in the rotational direction around the Y axis.
Ty_Spring	Sets or returns the virtual coefficient of elasticity for the force control in the rotational direction around the Y axis.
Tz_Mass	Sets or returns the virtual coefficient of inertia for the force control in the rotational direction around the Z axis.
Tz_Damper	Sets or returns the virtual coefficient of viscosity for the force control in the rotational direction around the Z axis.
Tz_Spring	Sets or returns the virtual coefficient of elasticity for the force control in the rotational direction around the Z axis.
TargetForcePriorityMode	Activates/inactivates or returns the target force priority mode.
Fx_TargetForce	Sets or returns the target force on the X axis in the direction of the translational force.
Fy_TargetForce	Sets or returns the target force on the Y axis in the direction of the translational force.
Fz_TargetForce	Sets or returns the target force on the Z axis in the direction of the translational force.
Tx_TargetForce	Sets or returns the target torque in the rotational direction around the X axis.
Ty_TargetForce	Sets or returns the target torque in the rotational direction around the Y axis.
Tz_TargetForce	Sets or returns the target torque in the rotational direction around the Z axis.
TargetForces	Simultaneously sets or returns the target force and target torque for each of the six axes.
MotionLimited	Returns the velocity and acceleration limits during force control.
LimitSpeedS	Sets or returns the maximum velocity limit for tool position change during force control.
LimitSpeedR	Sets or returns the maximum velocity limit for tool orientation change during force control.
LimitSpeedJ	Sets or returns the maximum velocity limit for joint movement during force control.
LimitSpeedSRJ	Sets or returns the maximum velocity limit for tool position change, tool orientation change, and joint movement during force control.
LimitAccelS	Sets or returns the maximum acceleration limit for tool position change during force control.
LimitAccelR	Sets or returns the maximum acceleration limit for tool orientation change during force control.
LimitAccelJ	Sets or returns the maximum acceleration limit for joint movement during force control.
LimitAccelSRJ	This sets or returns the maximum values of acceleration for joint acceleration, tool position modification, and tool orientation modification during force control.