FORCE._ program instruction FORCE._ program instruction Syntax FORCE._ Function Adept Intelligent Force Sensing option status and control instructions. Stop on Digital Signal option control instruction. Usage Considerations The forms of FORCE._ areis: FORCE.FRAME Set transformation for force reference frame FORCE.MODE Set and control force operating modes FORCE.OFFSET Set temporary or permanent force offset FORCE.READ Return current force reading Details These instructions are part of the Omron Adept Intelligent Force Sensing System. See the Adept Intelligent Force Sensing System User’s Guide for full syntax and details.
Stop on Digital Signal (eV+ 16.3 edit D and later) A "stop-on-digital-signal" functionality is available. With this feature, any Omron Adept robot system can be programmed to stop rapidly on a digital-input latch event. For example, this feature could be used during high-speed assembly searches. This feature, which operates like an AdeptForce (stop-on-force) guarded move, is enabled and disabled with the program instructions "FORCE.MODE (2)" and "FORCE.MODE (-2)", respectively. For more details on the Adept Intelligent Force Sensing System (stop-on-force) Guarded move, see the Adept Intelligent Force Sensing System User's Guide. To use this feature, do the following: 1.
Using the ACE Controller Config Tools, change the TRAJ_RATE system parameter to the value 250 Hz / 4 ms. This will increase the speed of response. 2. Using the ACE Controller Config Tools, add a poslatch clause to the robot statement. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 253