Structures ForceStatus - ThorstenBrach/SRCI GitHub Wiki
| Parameter | Data Type | Default Value | Description |
|---|---|---|---|
ForceControlEnabled |
- |
TRUE, while a "ForceControl" function is enabled |
|
ForceLimitEnabled |
- |
TRUE, while a "ForceLimit" function is enabled |
|
ApplyingForce |
- |
TRUE, while robot is adjusting its movement to apply specified force |
|
MaxDeviationReached |
- |
TRUE, while maximum deviation according to input parameter "MaxDeviation" is reached |
|
SpecifiedForceTorqueReached |
- |
TRUE, while currently applied force/torque is identical to specified force/torque |
|
SpecifiedForceLimitReached |
- |
TRUE, while currently detected force is identical to specified force limit |
|
Bit06 |
- |
Bit 06 Reserve |
|
Bit07 |
- |
Bit 07 Reserve |