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Chapter 12 Robot Control Statements

12-95

ST_SetCompJLimit (Statement) [Ver. 1.9 or later]

Function

Sets the current limit under the compliance control (special compliance control

function statement) (exclusively designed for 6-axis robots).

Format

ST_SetCompJLimit <J1 current limit>, <J2 current limit>, <J3 current

limit>, <J4 current limit>, <J5 current limit>, <J6 current limit>

Explanation

Sets the current limit under the compliance control. The rated current of a motor

corresponds to 100. When you use SetFrcLimit to set 0 to all the directions, the

motor currents are limited to values less than the setting.

Setting ranges from 0 to 100.

Related Terms

ST_ResetCompJLimit, ST_SetCompControl

Notes

(1) Execute this command in a TAKEARMed task that has obtained arm

semaphore. If this command is executed without arm semaphore obtained, Error

"21F7 Cannot take arm semaphore" will result.

(2) The set values will be initialized and all the current limits will be 0 after the

controller is turned on.

(3) When you use ST_SetCompJLimit to set relatively large values, your robot may

present an oscillation resulting in an error. If this is the case, use

ST_SetCompRate and ST_SetDumpRate to adjust the compliance.

Example

ST_SetFrcCoord 1 'Set the force limiting coordinate system to

'the tool coordinate

ST_SetCompJLimit 30, 0, 0, 0, 0, 0

'Set the current limit for J1 to 30%

ST_SetFrcLimit 0, 100, 100, 100, 100, 100

'Set the force limiting rates

ST_SetCompControl 'Enable the compliance control function.

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