Structures ForceStatus - ThorstenBrach/SRCI GitHub Wiki

ForceStatus

Parameter Data Type Default Value Description

ForceControlEnabled

BOOL

-

TRUE, while a "ForceControl" function is enabled

ForceLimitEnabled

BOOL

-

TRUE, while a "ForceLimit" function is enabled

ApplyingForce

BOOL

-

TRUE, while robot is adjusting its movement to apply specified force

MaxDeviationReached

BOOL

-

TRUE, while maximum deviation according to input parameter "MaxDeviation" is reached

SpecifiedForceTorqueReached

BOOL

-

TRUE, while currently applied force/torque is identical to specified force/torque

SpecifiedForceLimitReached

BOOL

-

TRUE, while currently detected force is identical to specified force limit

Bit06

BOOL

-

Bit 06 Reserve

Bit07

BOOL

-

Bit 07 Reserve

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