Tx_Mass, Ty_Mass, Tz_Mass Property

Application
Force Control Object FC#

Description
This sets or returns the value of the virtual coefficient of inertia for force control in the specified axis in the direction of rotation in the force coordinate system.

Immediate Execution
No

Usage
FGet Object.XX_Mass, rVar
FSet Object.XX_Mass, rValue

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

• XX
  A character string defining the name of the property

• rVar
  A real number variable defining the value of the property

• rValue
  A real number or formula defining the new value of the property.

Values
XX

Specified Axis	Description
Tx	Specifies X axis in the direction of rotation.
Ty	Specifies Y axis in the direction of rotation.
Tz	Specifies Z axis in the direction of rotation.

rValue (Unit: [ mN·mm/(deg/sec²)])

	Values
Minimum	1000
Maximum	10000000

Default: 30000

Detailed Explanation
This sets or returns the value of the virtual coefficient of inertia for force control in the specified axis in the direction of rotation in the established force coordinate system.
Refer to the following manual for details on coefficients.
"Epson RC+ 8.0 Option Force Guide 8.0"

Usage Example
This example sets the Tx virtual coefficients of elasticity, viscosity, and inertia, and carries out a motion with force control active.

Function ForceControlTest
  FSet FCS1.Orientation, FG_TOOL
  FSet FC1.CoordinateSystem, FCS1
  FSet FC1.Enabled, False, False, False, True, False, False
  FSet FC1.Tx_Spring, 20000
  FSet FC1.Tx_Damper, 8000
  FSet FC1.Tx_Mass, 10000
  Move CurPos +TLW(10) FC1 ROT
Fend

See Also
Force Control Object FC#