TargetForces Property

Application
Force Control Object FC#

Description
This sets or returns the value of target force and torque for each of the 6 axes in the force coordinate system at the same time.

Immediate Execution
No

Usage
FGet Object.TargetForces, rArray()
FSet Object.TargetForces, rValueFx, rValueFy, rValueFz, rValueTx, rValueTy, rValueTz

Object
Object name
The object is specified as either of FC (numerical value) or FC (label).
rArray()
The number of elements defining the values of the property is an array of 6 or more real number variables
rValueFx
A real number or formula defining the new value of the property
rValueFy
A real number or formula defining the new value of the property
rValueFz
A real number or formula defining the new value of the property
rValueTx
A real number or formula defining the new value of the property
rValueTy
A real number or formula defining the new value of the property
rValueTz
A real number or formula defining the new value of the property

Values rArray()

Element number	Element number constant	Description
0	FG_FX	Fx target force
1	FG_FY	Fy target force
2	FG_FZ	Fz target force
3	FG_TX	Tx target torque
4	FG_TY	Ty target torque
5	FG_TZ	Tz target torque

rValueFx, rValueFy, rValueFz (Unit: [N])

	Values
Minimum	The rated negative detection capability of the force sensor
Maximum	The rated positive detection capability of the force sensor

Default: 0

rValueTx, rValueTy, rValueTz (Unit: [N·mm])

	Values
Minimum	The negative rated torque detection capability of the force sensor
Maximum	The positive rated torque detection capability of the force sensor

Default: 0

Detailed Explanation
This returns the value of or sets the target force and torque for the force control function for the 6 axes at the same time.
It sets the following target forces and torques.
rValueFx: Fx rValueFy: Fy rValueFz: Fz
rValueTx: Tx rValueTy: Ty rValueTz: Tz
When the force control function is executed with the target force or torque being set to “0”, the robot moves so that the force becomes “0” and operates while following the external force. Since the axes are independent each other, the robot can follow the force in Fx and Fy directions while pressing in the Fz direction.
When using the force control function having set the target force and torque, there are times 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 virtual coefficients of elasticity, viscosity, and inertia, and the motion may be slowed at times.

Usage Example
This example sets the target force and uses the force control function.

Function ForceControlTest
  FSet FCS1.Orientation, FG_TOOL
  FSet FC1.CoordinateSystem, FCS1
  FSet FC1.Enabled, False, True, True, False, False, False
  FSet FC1.Fy, 0.01, 4, 5
  FSet FC1.Fz, 0.01, 4, 5
  FSet FC1.TargetForces, 0, 10, -10, 0, 0, 0
  FCKeep FC1, 5
Fend

See Also
Force Control Object FC#,
Fx_TargetForce, Fy_TargetForce, Fz_TargetForce,
Tx_TargetForce, Ty_TargetForce, Tz_TargetForce Property

← TargetForcePriorityMode Property TillStopMode Property →