ABB机器人力保持程序

 1 MODULE ForceRout
 2     PROC ForceHold(PERS robtarget ForceHoldP10, PERS num MoveNum,INOUT tooldata toolName,INOUT num ForceNum)
 3         ForceHoldP10:=CRobT(Tool:=toolName);
 4         FCPress1LStart RelTool(ForceHoldP10,0,30,0),v60Fz:=ForceNum,80ForceFrameRef:=FC_REFFRAME_TOOLForceChange:=200DampingTune:=100TimeOut:=5UseSpdFFWPosSupvDist:=9e9,fine,toolName;
 5         FCPressL RelTool(ForceHoldP10,MoveNum,30,0),v60,ForceNum,z30,toolName;
 6         !ForceHoldP20 := CRobT(Tool:=toolName);
 7         !speedend.v_ori := vSetNum.v_ori;
 8         FCPressEnd RelTool(ForceHoldP10,MoveNum-10,30,-40),v60ForceChange:=400eroContactValue:=-130,toolName;
 9         !MoveL RelTool(ForceHoldP10,MoveNum - 30,30,-50Rz:=20), vSetNum, z50, toolPut;
10     ENDPROC
11 ENDMODULE

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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

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