Force Mode Extended

Use this command to apply a force in a particular direction instead of maintaining/following a reference position.

Fieldbus Interface

PMC_ForceModeCtrlEx

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
Mode	USINT	0: Absolute Force Mode; 1: Relative Force Mode (relative to current force output in the specified axis)
Level	USINT	Bitmap of which axis to enable force mode for. Bit = 1 means enable force mode for that axis, 0 means enable position mode for that axis. Bit0: Fx; Bit1: Fy; Bit2: Fz; Bit3: Tx; Bit4: Ty; Bit5: Tz
Buffer	USINT	0: Enter / exit force mode immediately 1: Enter / exit force mode command will be added to the specified mover's motion buffer. If an enter force mode command is added to a macro, then an exit force mode command must also be added after it. If not, an exit force mode command will be automatically added at the end of the macro
XbotID	USINT	ID of the XBot. Real XBot IDs [1,78].
ForceX	REAL	When applicable, the desired X force in Newtons.
ForceY	REAL	When applicable, the desired Y force in Newtons.
ForceZ	REAL	When applicable, the desired Z force in Newtons.
TorqueX	REAL	When applicable, the desired torque in Rx in Newton-meters.
TorqueY	REAL	When applicable, the desired torque in Ry in Newton-meters.
TorqueZ	REAL	When applicable, the desired torque in Rz in Newton-meters.
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see PMC Reply Codes.

Conditions

Operating Conditions
Preconditions	XBot is in the Idle state, Obstacle Detected state, Motion state, Stopped state, Hold Position state, or Waiting state.
Postconditions	The XBot will enter or exit Force Mode, as specified

Description

Use this command to apply a force in a particular direction instead of maintaining/following a reference position.

The force command allows the user to apply a force in a chosen orientation, while disabling position control in that direction. While the XBot is in force mode, it is possible to move the XBot using the linear motion command as long as the axes affected by the motion command are not in force mode.

Force feedback is provide through the Get XBot Status command. See also Configure Feedback Stream and Read Xbot Force

Force mode command is specified by providing the X, Y, Z, RX, RY, RZ components of the desired force/torque.

Behaviour During Obstacles

If Force Mode is enabled in Z only, the XBot will still be able to resume its motion in the event of an obstacle. Otherwise, the XBot will enter the Stopped State and its motion will not be resumed even if the obstacle XBot is moved away. The motion command needs to be sent again.