Fx_TargetForce, Fy_TargetForce, Fz_TargetForce Property

Application
Force Control Object FC#

Description
This sets or returns the value of the target force in the specified axis in the direction of translation in the established force coordinate system.

Immediate Execution
No

Usage
FGet Object.XX_TargetForce, rVar
FSet Object.XX_TargetForce, 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])

	Values
Minimum	The rated negative detection capability of the force sensor
Maximum	The rated positive detection capability of the force sensor

Default: 0

Detailed Explanation
This sets or returns the value of the target force in the specified axis in the direction of translation in the established force coordinate system.
When the force control function is executed with the target force being set to “0”, the robot can operate while following the external force since it moves so that the force becomes “0”.
When using the force control function having set the target force, there are times that the target force is not achieved even after sufficient time. In such instances, activate the TargetForcePriorityMode in order to accurately match the target force. However, when the TargetForcePriorityMode is activated, operation of the robot will not be in accordance with the established values for the virtual coefficients of elasticity, viscosity, and inertia, and the movement may be slowed at times.

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

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
FSet FC1.Fz_TargetForce, 10
FCKeep FC1, 5

See Also
Force Control Object FC#