Fx, Fy, Fz, Tx, Ty, Tz Property

Application
Force Control Object FC#

Description
Sets or returns the value of the following coefficients for force control in the specified axis of the force coordinates. Virtual coefficients of elasticity (Spring) Virtual coefficients of viscosity (Damper) Virtual coefficients of inertia (Mass)

Immediate Execution
No

Usage
FGet Object.XX, rArray()
FSet Object.XX, rValueS, rValueD, rValueM

• Object
  Object name
  The object is specified as either of FC (numerical value) or FC (label).

• XX
  A character string defining the name of the property

• rArray()
  The number of elements defining the value of the property is an array of 3 or more real numbers

• rValueS
  A real number or formula defining the new value of the property

• rValueD
  A real number or formula defining the new value of the property

• rValueM
  A real number or formula defining the new value of the property

Values
XX

Specified Axis	Description
Fx	Specifies translated force in the X axis.
Fy	Specifies translated force in the Y axis.
Fz	Specifies translated force in the Z axis.
Tx	Specifies rotational force in the X axis.
Ty	Specifies rotational force in the Y axis.
Tz	Specifies rotational force in the Z axis.

rArray()

Element number	Element number constant	Description
0	FG_ SPRING	Virtual coefficient of elasticity
1	FG_ DAMPER	Virtual coefficient of viscosity
2	FG_ MASS	Virtual coefficient of inertia

rValueS

Fx, Fy, Fz	Value (Unit: N/mm)
Minimum	0 (default)
Maximum	100

Tx, Ty, Tz	Value (Unit: N·mm/deg)
Minimum	0 (default)
Maximum	1000000

rValueD

Fx, Fy, Fz	Value (Unit: N/(mm/sec))
Minimum	0.1
Maximum	200

Default: 10

Tx, Ty, Tz	Value (Unit: N·mm/(deg/sec))
Minimum	10
Maximum	1000000

Default: 3000

rValueM

Fx, Fy, Fz	Value (Unit: mN/(mm/ sec2) = kg)
Minimum	0.001
Maximum	1000

Default: 10

Tx, Ty, Tz	Value (Unit: N·mm/(deg/sec2))
Minimum	1000
Maximum	10000000

Default: 30000

Detailed Explanation
This sets or returns the value of the virtual coefficients of elasticity, viscosity, and inertia for force control in the specified axes in the established force coordinate system.
The following properties can be set or retrieved with one command. (XX indicates either of Fx, Fy, Fz, Tx, Ty, or Tz) XX_Spring property XX_Damper property XX_Mass property
rValueS, rValueD, and rValueM set the virtual coefficients of elasticity, viscosity, and inertia, respectively.
Refer to the following manual for details on coefficients.
“Epson RC+ 8.0 Option Force Guide 8.0”

Usage Example
This example sets the virtual coefficients of elasticity, viscosity, and inertia for Fz, and carries out a motion with force control active.

Function ForceControlTest
  FSet FCS1.Orientation, FG_TOOL
  FSet FC1.CoordinateSystem, FCS1
  FSet FC1.Enabled, False, False, True, False, False, False
  FSet FC1.Fz, 0.01, 4, 5
  Move CurPos +Z(10) FC1
Fend

See Also
Force Control Object FC#