TCLim Statement

Specifies the torque limit of each joint for the torque control mode.

Syntax
TCLim [j1Torque limit, j2Torque limit, j3Torque limit, j4Torque limit [, j5Torque limit] [, j6Torque limit] [, j7Torque limit] [, j8Torque limit] [, j9Torque limit] ]

Parameters

j1Torque limit: Specifies the proportion to the maximum momentary torque (an integer from 1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j2Torque limit: Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j3Torque limit: Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j4Torque limit: Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j5Torque limit: Optional. Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j6Torque limit: Optional. Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j7Torque limit: Optional. Specifies the proportion to the maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j8Torque limit: Optional. Specifies the proportion to the S axis maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.
j9Torque limit: Optional. Specifies the proportion to the T axis maximum momentary torque (1 to 100 / unit: %) using an expression or numeric value. -1: Disable the torque limit and turns the mode to normal position control.

Return Values
When the parameters are omitted, returns the current torque limit.

Description
Torque limit should be set while TC is Off. Turning TC On makes the set values effective.

When the limit value is too low, the robot doesn’t work and operation command stops before the robot reaches the target position.

In any of the following cases, TCLim set value is initialized.

Controller Startup
Motor On
SFree, SLock, Brake
Reset, Reset Error
Task end by STOP switch or Quit All

See Also
TC, TCLim Function, TCSpeed

TCLim Statement Example

Speed 5
Go ApproachPoint

'Set the Z axis torque limit to 20
TCLim -1, -1, 20, -1

TC On
Go TargetPoint
Wait 3
Go ApproachPoint
TC Off

Notes

When a position error detected on Safety Board mounted controller

Change the program so that “current position of the robot” and “current target position of the robot” are not far apart.

If they are far apart, the Safety Board detects failure, and “Erorr No.9801 Detected a position error by the Safety Board.” error occurs. (Only for controllers mounting the Safety Board.)

For more details, refer to TC Statement.

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