LimitAccelSRJ Property

Application
Force Control Object FC#

Description
This sets or returns the maximum values of acceleration for joint acceleration, tool position modification, and tool orientation modification during force control.

Immediate Execution
No

Usage
FGet Object.LimitAccelSRJ, rArray()
FSet Object.LimitAccelSRJ, rValueS, rValueR, rValueJ

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

• array()
  The maximum element number defining the value of the property is an array of 3 or more real number variables

• rValueS
  A real number or formula defining the new value of the property.

• rValueR
  A real number or formula defining the new value of the property.

• rValueJ
  A real number or formula defining the new value of the property.

Values
rArray()

Element number	Element number constant	Description
0	FG_LIMIT_S	Maximum tool position modification acceleration
1	FG_LIMIT_R	Maximum tool orientation modification acceleration
2	FG_LIMIT_J	Maximum joint acceleration

rValueS (Unit: [mm/sec²])

• For RC800 series Controllers

  Model of Robot	Maximum	Minimum	Default
  C8, C12 series, GX series, RS series	25,000	0.1	200

• For RC700 series Controllers

  Model of Robot	Maximum	Minimum	Default
  N2-A450**	5,000	0.1	200
  C4-*901**	15,000
  C4-*601**, C8, C12, N6, G3, G6, G10, G20, GX series, RS series	25,000

rValueR (Unit: [deg/sec²])

	Values
Minimum	0.1
Maximum	5000

Default: 100

rValueJ (Unit: [%])

	Values
Minimum	0.1
Maximum	100 (default)

Detailed Explanation
This sets or returns the maximum values of acceleration for joint acceleration, tool position modification, and tool orientation modification during force control.
For details, refer to the following manual.LimitAccelJ Property LimitAccelR Property LimitAccelS Property

See Also
FC (Force Control) Object , LimitAccelJ Property , LimitAccelR Property , LimitAccelS Property