CVMove Statement
CVMove Statement
Comments
This executes a free curve CP motion, defined by the Curve command, with the force control active.
Usage
CVMove
File name[
FC#
] [CP] [CF] [Till | Find] [SYNC]
P#
Specifies the point data defining the target position of the motion.
FC#
Specifies the force control object.
CF
Continues the force control function. Can be omitted.
Detailed Explanation
By adding a force control object as a parameter to a CVMove command, a CVMove motion is executed with the force control function active.
For CVMove motion details, refer to the following manual.
EPSON RC+ 7.0 SPEL+ Language Reference
CVMove
For details on the force control function, refer to
Move Statement
.
Usage Example
This is a simple program example to execute a CVMove motion with the force control function active.
In this example, a CVMove motion is executed with the force control function active in the X axis direction of the tool coordinate system.
Function ForceCVMoveTest
FSet FCS1.Orientation, FG_TOOL
FSet FC1.CoordinateSystem, FCS1
FSet FC1.Fx_Spring, 0
FSet FC1.Fx_Damper, 1
FSet FC1.Fx_Mass, 10
FSet FC1.Fx_Enabled, True
curve "mycurve",O,0,4,P(1:7)
CVMove
"mycurve" FC1
Fend
Reference
CVMove, Move, Force Control Object FC#
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Sets the force coordinate data
Specifies the force coordinate data
Sets virtual Fx coefficient of elasticity
Sets virtual Fx coefficient of viscosity
Sets virtual Fx coefficient of inertia
Sets the Fx force control function to active
Sets a free curve control active
Executes a Move motion with the force
40 Force Guide 7.0 SPEL+ Language Reference Rev.7
