CVMove Statement

Description
This executes a free curve CP motion, defined by the Curve command, with the force control active.

Usage
CVMove File name[FC#] [CP] [CF] [Till | Find] [SYNC]

P#
Specifies the point data defining the target position of the motion.
FC#
Specifies the force control object.
CF
Continues the force control function. Can be omitted.

Detailed Explanation
By adding a force control object as a parameter to a CVMove command, a CVMove motion is executed with the force control function active.
For CVMove motion details, refer to the following manual.
“Epson RC+ 8.0 SPEL+ Language Reference” CVMove
For details on the force control function, see below.
Move Statement

Usage Example
This is a simple program example to execute a CVMove motion with the force control function active.
In this example, a CVMove motion is executed with the force control function active in the X axis direction of the tool coordinate system.

Function ForceCVMoveTest
  FSet FCS1.Orientation, FG_TOOL   ' Sets the force coordinate data
  FSet FC1.CoordinateSystem, FCS1  ' Specifies the force coordinate data
  FSet FC1.Fx_Spring, 0            ' Sets the virtual Fx coefficient of elasticity
  FSet FC1.Fx_Damper, 1            ' Sets the virtual Fx coefficient of viscosity
  FSet FC1.Fx_Mass, 10             ' Sets the virtual Fx coefficient of inertia
  FSet FC1.Fx_Enabled, True        ' Sets the Fx force control function to active

  curve "mycurve",O,0,4,P(1:7)     ' Sets a free curve
  CVMove "mycurve" FC1             ' Executes a Move motion with the force control active
Fend

See Also
CVMove, Move, Force Control Object FC#

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