TillStopMode Property

Application
Force Trigger Object FT#

Description
Sets or returns the stop method when trigger conditions are met when the force trigger is used for Till.

Immediate Execution
No

Usage
FGet Object.TillStopMode, iVar
FSet Object.TillStopMode, iValue

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

• iVar
  An integer variable defining the value of the property

• iValue
  An integer value or formula defining the new value of the property

Values
iValue

Name of Constants	Values	Description
FG_STANDARD_STOP	0	The standard stopping method. (default)
FG_SOFT_STOP	1	Stops the robot to reduce force overshoot upon contact.

Detailed Explanation
Sets or returns the stop method when trigger conditions are met when the force trigger is used for Till.
When using the force trigger to stop the robot upon detecting contact with an object, use FG_SOFT_STOP. FG_SOFT_STOP is more suited to reducing force overshoot upon contact compared to FG_STANDARD_STOP. Compared to FG_STANDARD_STOP, this makes it easier to stay within the tolerable range even when increasing the contact speed assuming that a tolerable contact force is applied.
Use FG_STANDARD_STOP when detecting the absence of force, such as when probing for holes.

Usage Example
This is an example of detecting contact using FG_SOFT_STOP. Contact is detected and the robot is stopped when a force of 5 [N] or less, or 5 [N] or more is detected in the Fz direction when moving from the current position 100 mm in the -Z direction.

Function TillStopModeTest
  FSet FT1.Fz_Enabled, True
  FSet FT1.Fz_Levels, -5, 5
  FSet FT1.TillStopMode, FG_SOFT_STOP

  FSet FS1.Reset
  Till FT1
  Move Here -Z(100) Till
Fend

See Also
Force Trigger Object FT#