Features
This function sets the stiffness value based on the global coordinate (refer to set_ref_coord). The linear transition from the current or default stiffness is performed during the time given as STX. The user-defined ranges of the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
fTargetStiffness |
float[6] |
- |
Three translational stiffnesses Three rotational stiffnesses |
|
eForceReference |
enum.COORDINATE_SYSTEM |
COORDINATE_SYSTEM_TOOL |
Refer to the Definition of Constant and Enumeration Type |
|
fTargetTime |
float |
0 |
Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
|
Value |
Description |
|
0 |
Failed |
|
1 |
Success |
Example
C++
float p0[6] = {0, 0, 90, 0, 90, 0};
Drfl.movej(p0, 60, 30);
float stx[6] = {3000, 3000, 3000, 200, 200, 200};
Drfl.task_compliance_ctrl(stx);
float stx2[6] = {1, 2, 3, 4, 5, 6};
Drfl.set_stiffnessx(stx2);
Drfl.release_compliance_ctrl();