LimitSpeedJ Property

Application
Force Control Object FC#

Description
Sets or returns the maximum velocity limit for joint movement during force control.

Immediate Execution
No

Usage
FGet Object.LimitSpeedJ, rVar
FSet Object.LimitSpeedJ, 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: 50

Detailed Explanation
This sets or returns the maximum joint velocity during force control.
The value established in LimitSpeedJ Property expresses a ratio with respect to the maximum velocity.
When, during force control, the robot attempts to move at a velocity in excess of the value established in LimitSpeedJ Property, the velocity is automatically limited. The limitation is always active during force control.
In LowPower mode, with force control active, when the value established in LimitSpeedJ Property is in excess of the Speed Default value, the Speed is automatically adjusted to the Speed default value.

Usage Example
This is an example of a simple motion program using LimitSpeedJ.
The Move motion is carried out at a velocity of 2[mm/sec], and when in motion, when the robot attempts via force control to move in excess of 5% of the joint velocity, the velocity is automatically limited to 5% via LimitSpeedJ.

Function LimitSpeedJTest
  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.LimitSpeedJ, 5          ' Maximum joint velocity is set to 5%
  SpeedS 2                         ' Sets the CP motion velocity to 2[mm/sec]

  Move P0 FC1                      ' A Move motion with force control

Fend

See Also
Force Control Object FC#, Speed