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Table des matieres
7.1.12 FCPress1LStart ......................................................................................
7.1.13 FCPressC ..............................................................................................
7.1.14 FCPressEnd ...........................................................................................
7.1.15 FCPressL ..............................................................................................
7.1.16 FCRefCircle ...........................................................................................
7.1.17 FCRefForce ...........................................................................................
7.1.18 FCRefLine .............................................................................................
7.1.19 FCRefMoveFrame ...................................................................................
7.1.20 FCRefRot ...............................................................................................
7.1.21 FCRefSpiral ...........................................................................................
7.1.22 FCRefSprForceCart .................................................................................
7.1.23 FCRefStart .............................................................................................
7.1.24 FCRefStop .............................................................................................
7.1.25 FCRefTorque ..........................................................................................
7.1.26 FCResetDampingTune .............................................................................
7.1.27 FCResetLPFilterTune ...............................................................................
7.1.28 FCResetMaxForceChangeTune .................................................................
7.1.29 FCSetDampingTune ................................................................................
7.1.30 FCSetLPFilterTune ..................................................................................
7.1.31 FCSetMaxForceChangeTune .....................................................................
7.1.32 FCSpdChgAct ........................................................................................
7.1.33 FCSpdChgDeact .....................................................................................
7.1.34 FCSpdChgTunSet ...................................................................................
7.1.35 FCSpdChgTunReset ................................................................................
7.1.36 FCSupvForce .........................................................................................
7.1.37 FCSupvOrient .........................................................................................
7.1.38 FCSupvPos ............................................................................................
7.1.39 FCSupvReoriSpeed .................................................................................
7.1.40 FCSupvTCPSpeed ..................................................................................
7.1.41 FCSupvTorque .......................................................................................
7.2
Fonctions ........................................................................................................
7.2.1
FCGetForce ...........................................................................................
7.2.2
FCGetProcessData ..................................................................................
7.2.3
FCIsForceMode ......................................................................................
7.2.4
FCLoadID ..............................................................................................
7.3
Types de données .............................................................................................
7.3.1
fcboxvol ................................................................................................
7.3.2
fccondstatus ..........................................................................................
7.3.3
fccylindervol ...........................................................................................
7.3.4
fcdamping ..............................................................................................
7.3.5
fcforcevector ..........................................................................................
7.3.6
fcframe ..................................................................................................
7.3.7
fclindir ...................................................................................................
7.3.8
fcprocessdata .........................................................................................
7.3.9
fcplane ..................................................................................................
7.3.10 fcrotdir ..................................................................................................
7.3.11 fcspeedvector .........................................................................................
7.3.12 fcspherevol ............................................................................................
7.3.13 fcspdchgtunetype ....................................................................................
7.3.14 fcxyznum ...............................................................................................
8
Paramètres système
8.1
Type Robot ......................................................................................................
8.1.1
Use FC Master ........................................................................................
8.2
Type FC Master ................................................................................................
8.2.1
Type FC Master ......................................................................................
8.2.2
Name ....................................................................................................
8.2.3
Use FC Sensor .......................................................................................
8.2.4
Use FC Kinematics ..................................................................................
6
Manuel sur les applications - Force control Standard for GoFa
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3HAC083267-004 Révision: D
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