Fx_Mass, Fy_Mass, Fz_Mass Property

Application
Force Control Object FC#

Description
This sets or returns the value of the virtual coefficient of inertia for force control in the specified axis of the force in the translational direction.

Immediate Execution
No

Usage
FSet Object.XX_Mass, rValue
FGet Object.XX_Mass, rVar

• 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

• rVar
  A real number variable defining the value of the property

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

Values
XX

Specified Axis	Description
Fx	Specifies the X axis in the direction of translation.
Fy	Specifies the Y axis in the direction of translation.
Fz	Specifies the Z axis in the direction of translation.

rValue (Unit: [mN/(mm/sec²) = kg])

	Values
Minimum	0.001
Maximum	1000

Default: 10

Detailed Explanation
This sets or returns the value of the virtual coefficient of inertia for force control in the specified axis of the force in the direction of translation within the established force coordinate system.
Refer to the following manual for details on coefficients.
“Epson RC+ 8.0 Option Force Guide 8.0”

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

Function Test_Mass
  FSet FCS1.Orientation, FG_TOOL
  FSet FC1.CoordinateSystem, FCS1
  FSet FC1.Enabled, True, False, False, False, False, False
  FSet FC1.Fx_Spring, 0.01
  FSet FC1.Fx_Damper, 4
  FSet FC1.Fx_Mass, 5
  Move CurPos +X(10) FC1
Fend

See Also
Force Control Object FC#