LimitAccelS Property

Application
Force Control Object FC#

Description
This sets or returns the value of the maximum of the tool position modification acceleration during force control

Immediate Execution
No

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

• Object
  Object
  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: [mm/sec²])

• For RC800 series Controllers

  Model of Robot	Maximum	Minimum	Default
  GX series	25000	0.1	200

• For RC700 series Controllers

  Model of Robot	Maximum	Minimum	Default
  N2-A450 **	5000	0.1	200
  C4-A901 **	15000
  G3, G6, G10, G20, GX series, RS series, C4-A601**, C8, C12, N6	25000

Detailed Explanation
This sets or returns the value of the maximum of the tool position modification acceleration during force control.
When the robot attempts to accelerate, with force control active, at a rate in excess of the value established in the LimitAcceIS properties, the acceleration is automatically limited. The limitation is always active during force control.
When executing force control in combination with motion commands that are not added a qualified ROT parameter except FCKeep, the value must be greater than the acceleration value established for the robot via AccelS.
In LowPower mode, the motion is automatically corrected to the AccelS default value when force control is active and the value set in the LimitAccelS property is greater than the AccelS default value.

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

Function LimitAccelSTest
  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.LimitAccelS, 5          ' Sets the maximum tool position modification velocity to 5[mm/sec^2]
  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#, AccelS