LimitAccelJ Property

Application
Force Control Object FC#

Description
Sets or returns the maximum value for joint acceleration during force control.

Immediate Execution
No

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

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

• 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
rValue (Unit: [%])

	Values
Minimum	0.1
Maximum	100 (default)

Detailed Explanation
This sets or returns the maximum value for joint acceleration during force control.
The value established for the LimitAccelJ property expresses a ratio with respect to the maximum acceleration.
When the robot, during force control, attempts to accelerate at a rate in excess of the established property value, the acceleration is automatically limited. The limitation is always active during force control.
In LowPower mode during force control, the motion is automatically corrected to the default Accel value when a value in excess of the default Accel value is established in the LimitAccelJ property.

Usage Example
This is an example of a simple motion program using LimitAccelJ.
The Move motion is carried out at an acceleration of 2[mm/sec²]; when in the course of the motion, a movement accelerating under force control attempts a motion exceeding 5% of the joint velocity, the acceleration is automatically limited by LimitAccelJ, and the motion is carried out at 5% of the established value of acceleration.

Function LimitAccelJTest

  FSet FCS1.Orientation, FG_TOOL   ' Sets the force coordinate data

  FSet FC1.CoordinateSystem, FCS1  ' Specifies the force coordinate data
  FSet FC1.Fx_Spring, 0            ' Sets the virtual Fx coefficient of elasticity
  FSet FC1.Fx_Damper, 1            ' Sets the virtual Fx coefficient of viscosity
  FSet FC1.Fx_Mass, 10             ' Sets the virtual Fx coefficient of inertia
  FSet FC1.Fx_Enabled, True        ' Sets the Fx force control to active

  FSet FC1.LimitAccelJ, 5          ' Sets the maximum joint acceleration to 5%
  AccelS 2                         ' Sets the maximum CP motion acceleration to 2[mm/sec^2]

  Move P0 FC1                      ' A Move motion with force control

Fend

See Also
Force Control Object FC#, Accel