Pressing Motion

To use the pressing motion, use the following torque control mode commands.

• TC (Returns the torque control mode setting and current mode.)
• TCSpeed (Specifies / returns the speed limit in the torque control.)
• TCLim (Specifies the torque limit of each joint for the torque control mode.)

The low power mode is limited by a low power upper limit. Therefore, normally use the High power mode. For details and command usage, refer to the following manual:

"SPEL+ Language Reference - TC, TCSpeed, TCLim"