TargetForcePriorityMode Property

Application
Force Control Object FC#

Description
Activates/inactivates or returns the status thereof the target force priority mode.

Immediate Execution
No

Usage
FGet Object.TargetForcePriorityMode, bVar
FSet Object.TargetForcePriorityMode, bValue

• Object
  Object name
  The object is specified as either of FC (numerical value) or FC (label).

• bVar
  A Boolean variable defining the value of the property

• bValue
  A Boolean value or formula defining the new value of the property

Values bValue

Name of Constants	Values	Description
False	0	Inactivates the target force priority mode. (default)
True	-1	Activates the target force priority mode.

Detailed Explanation
There are times when the target force or target torque is set and the force control function is used that the target force is not achieved even after sufficient time. In such instances, activate the TargetForcePriorityMode when wanting to accurately match the target force. However, when the TargetForcePriorityMode is activated, operation of the robot will not be in accordance with the established values for the following coefficients, and the motion may be slowed at times.
Virtual coefficients of elasticity (Spring) Virtual coefficients of viscosity (Damper) Virtual coefficients of inertia (Mass)

Usage Example
This example activates the target priority mode and uses the force control function.

Function ForceControlTest
  FSet FCS1.Orientation, FG_TOOL
  FSet FC1.CoordinateSystem, FCS1
  FSet FC1.Enabled, False, False, True, False, False, False
  FSet FC1.Fz, 0.01, 4, 5
  FSet FC1.Fz_TargetForce, 10
  FSet FC1.TargetForcePriorityMode, True
  FCKeep FC1, 5
Fend

See Also
Force Control Object FC#