LimitSpeedSRJ Property
Application
Force Control Object FC#
Description
Sets or returns the maximum values of joint velocity, tool position modification velocity, and tool orientation modification velocity with force control active.
Immediate Execution
No
Usage
FGet Object.LimitSpeedSRJ, rArray()
FSet Object.LimitSpeedSRJ, rValueS, rValueR, rValueJ
Object
Object name
The object is specified as either of FC (numerical value) or FC (label).rArray()
The maximum element number defining the value of the property is an array of 3 or more real number variablesrValueS
A real number or formula defining the new value of the propertyrValueR
A real number or formula defining the new value of the propertyrValueJ
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 velocity |
| 1 | FG_LIMIT_R | Maximum tool orientation modification velocity |
| 2 | FG_LIMIT_J | Maximum joint velocity |
rValueS (Unit: [mm/sec])
| Values | |
|---|---|
| Minimum | 0.1 |
| Maximum | 2000 |
Default: 50
rValueR (Unit: [deg/sec])
| Values | |
|---|---|
| Minimum | 0.1 |
| Maximum | 1000 |
Default: 25
rValueJ (Unit: [%])
| Values | |
|---|---|
| Minimum | 0.1 |
| Maximum | 100 |
Default: 50
Detailed Explanation
Sets or returns the maximum values of joint velocity, tool position modification velocity, and tool orientation modification velocity with force control active.
For details, refer to the following manual.LimitSpeedJ Property LimitSpeedR Property LimitSpeedS Property
See Also
Force Control Object FC#, LimitSpeedJ Property, LimitSpeedR Property, LimitSpeedS Property