LimitSpeedS Property

Application
Force Control Object FC#

Description
This sets or returns the maximum tool position modification velocity during force control.

Immediate Execution
No

Usage
FGet Object.LimitSpeedS, rVar
FSet Object.LimitSpeedS, 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: [mm/sec])

	Values
Minimum	0.1
Maximum	2000

Default: 50

Detailed Explanation
This sets or returns the maximum tool position modification velocity during force control.
During force control, when the robot attempts to move at a velocity in excess of that set in LimitSpeedS property, the velocity 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 robot speed set by SpeedS.
In LowPower mode, when the value set in LimitSpeedS is greater than the SpeedS default value the movement is automatically adjusted to the SpeedS default value when force control is active.

Usage Example
This is a simple example of a motion program using LimitSpeedS.
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[mm/sec], the velocity is automatically limited to 5[mm/sec] via LimitSpeedS.

Function LimitSpeedSTest
  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.LimitSpeedS, 5          ' Sets the maximum tool position modification velocity to 5[mm/sec]
  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#, SpeedS