Tx_TargetForce, Ty_TargetForce, Tz_TargetForce Property

Application
Force Control Object FC#

Description
This sets or returns the value of the target torque in the specified axis in the direction of rotation in the force coordinate system.

Immediate Execution
No

Usage
FGet Object.XX_TargetForce, rVar
FSet Object.XX_TargetForce, 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: [N·mm])

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

Default: 0

Detailed Explanation
This sets or returns the value of the target torque in the specified axis in the direction of rotation in the force coordinate system.
When the force control function is executed with the target torque being set to “0”, the robot operates while following the external force because it moves so that the force becomes “0”.
When using the force control function having set the target 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 Tx virtual coefficients of elasticity, viscosity, and inertia and the target torque, and carries out a motion with force control active.

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
FSet FC1.Tx_TargetForce, 0.1
FCKeep FC1, 5

See Also
Force Control Object FC#