RefPos Status

Application
Robot Object Robot

Description
This returns the command-position, with force control, for the first variable. For the second variable, the command-position, which reflects only the position control without the effects of force control, is returned.

Usage
FGet Robot.RefPos, Point1, Point2

• Point1
  Variable representing a point data

• Point2
  Variable representing a point data

Detailed Explanation
This returns the command position reflecting the position control-command position and the effects of force control.
The position control command-position defines the virtual path that the original motion command tries to follow.
The force control command-position defines the actual robot path of movement, which is the calculated path reflecting the effect of force control on the position control command-position.
By looking at the amount of difference between the two command values, you see how much the movement is veered from the original path. This is effective when checking to see if the path differs from the original path more than was expected, or to analyze movement tendencies.

Usage Example
This detects if, by force control, the movement has veered beyond a certain amount from the original path, and stops the robot.

Function RefPosTest

  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
  Xqt RefPosCheck                  ' Launches a separate task to monitor
  Move P0 FC1                      ' A Move motion with force control
  Quit RefPosCheck                 ' Ends the separate monitored task

Fend

Function RefPosCheck
  Do
    FGet Robot.RefPos, P1, P2           ' Acquires RefPos
      If Abs(CX(P1) - CX(P2))  50 Then  ' Checks to see if the difference is 50 or greater
        Print "Err"                     ' An error occurs if the difference is too large
        AbortMotion All                 ' Stops motion
      EndIf
    Wait 0.1
  Loop
Fend

See Also
Robot Object Robot