MODULE ForceRout
PROC ForceHold(PERS robtarget ForceHoldP10, PERS num MoveNum,INOUT tooldata toolName,INOUT num ForceNum)
ForceHoldP10:=CRobT(\Tool:=toolName);
FCPress1LStart RelTool(ForceHoldP10,0,30,0),v60\Fz:=ForceNum,80\ForceFrameRef:=FC_REFFRAME_TOOL\ForceChange:=200\DampingTune:=100\TimeOut:=5\UseSpdFFW\PosSupvDist:=9e9,fine,toolName;
FCPressL RelTool(ForceHoldP10,MoveNum,30,0),v60,ForceNum,z30,toolName;
!ForceHoldP20 := CRobT(\Tool:=toolName);
!speedend.v_ori := vSetNum.v_ori;
FCPressEnd RelTool(ForceHoldP10,MoveNum-10,30,-40),v60\ForceChange:=400\ZeroContactValue:=-130,toolName;
!MoveL RelTool(ForceHoldP10,MoveNum - 30,30,-50\Rz:=20), vSetNum, z50, toolPut;
ENDPROC
ENDMODULE
写入一个点位然后进行后续点位的偏移,力值可以自己进行设定
参考文档:应用手册→RobotWare选项→Application manual-ForceControl
需要ABB机器人baseForceControl选项及相关硬件