LimitSpeedR Property

Application
Force Control Object FC#

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

Immediate Execution
No

Usage
FGet Object.LimitSpeedR, rVar
FSet Object.LimitSpeedR, 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])

	Values
Minimum	0.1
Maximum	1000

Default: 25

Detailed Explanation
Sets or returns the maximum tool orientation modification velocity during force control.
When the robot, during force control, attempts to move at a velocity in excess of the value established in LimitSpeedR properties, the velocity 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 robot speed set by SpeedR.
In LowPower mode, when the value set in LimitSpeedR is greater than the SpeedR default value the motion is automatically adjusted to the SpeedR default value when force control is active.

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

Function LimitSpeedRTest
  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.LimitSpeedR, 5          ' Sets the maximum tool orientation modification velocity to 5[deg/sec]
  SpeedR 2                         ' Sets the CP motion velocity to 2[deg/sec]

  Move P0 FC1 ROT                  ' A Move motion with force control

Fend

See Also
Force Control Object FC#, SpeedR