F_FlangeOffset Statement

Application
Robot Object Robot

Description
This sets or returns the force sensor position and orientation in the Tool 0 (TCP0, J6 flange) coordinate system.

Usage
F_FlangeOffset
F_FlangeOffset x_rValue, y_rValue, z_rValue, u_rValue, v_rValue, w_rValue

• x_rValue, …
  A numerical value or formula defining the new value

Detailed Explanation
This sets or returns the position and orientation of the center of the force sensor base in the Tool 0 coordinate system.
This is used when the positional relationship between Tool 0 and the force sensor has changed. Since the sensor reading cannot be acquired in the assumed coordinate system if a mistake is made in the setting operation, set it accurately and use the force function.

Usage Example
This example sets the position of the force sensor flange (10, 10, 10, 5, 5, 10) and confirms the setting results.

> F_FlangeOffset 10, 10, 10, 5, 5, 10
> F_FlangeOffset
  10.000,    10.000,    10.000,     5.000,     5.000,    10.000

See Also
Robot Object Robot