Fx_Spring, Fy_Spring, Fz_Spring Property

Application
Force Control Object FC#

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

Immediate Execution
No

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

• 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: [N/mm])

	Values
Minimum	0 (default)
Maximum	100

Detailed Explanation
This sets or returns the value of the virtual coefficient of elasticity for force control in the specified axis in 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 virtual coefficients of elasticity, viscosity, and inertia, and carries about a motion with the force control function active.

 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

See Also
Force Control Object FC#