LimitAccelR Property

Application
Force Control Object FC#

Description
Sets or returns the maximum velocity limit for tool orientation change acceleration during force control.

Immediate Execution
No

Usage
FGet Object.LimitAccelR, rVar
FSet Object.LimitAccelR, 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: [deg/sec ²])

	Values
Minimum	0.1
Maximum	5000

Default: 100

Detailed Explanation
This sets or returns the value of the maximum tool orientation acceleration with force control active.
When the robot attempts to accelerate, with force control active, at a rate in excess of the value established in the LimitAcceIR properties, the acceleration is automatically limited. The limitation is always active during force control.
When executing force control in combination with motion commands that is added a qualified ROT parameter, the value must be greater than the acceleration value established for the robot via AccelR.
In LowPower mode, the motion is automatically corrected to the AccelR default value when force control is active and the value set in AccelR is greater than the AccelR default value.

Usage Example
This is a simple example of a motion program using LimitAccelR.
The Move motion is carried out at an acceleration of 2[deg/sec²], and if, during movement, the robot attempts a motion via force control with an acceleration in excess of 5[deg/sec²], then the acceleration is automatically limited via LimitAccelR and carried out at 5[deg/sec²].

Function LimitAccelRTest
  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.LimitAccelR, 5          ' Sets the maximum tool orientation modification velocity to 5[deg/sec^2]
  AccelR 2                         ' Sets the CP motion acceleration to 2[deg/sec^2]

  Move P0 FC1 ROT                  ' A Move motion with force control

Fend

See Also
Force Control Object FC#, AccelR