/
Force Mode Extended

Force Mode Extended

Owned by Comala Publishing
Last updated: Mar 04, 2025
2 min read

Use this command to apply a force in a particular direction instead of maintaining/following a reference position.

Fieldbus Interface

PMC_ForceModeCtrlEx

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

Mode

USINT

0: Absolute Force Mode; 1: Relative Force Mode (relative to current force output in the specified axis)

Level

USINT

Bitmap of which axis to enable force mode for. Bit = 1 means enable force mode for that axis, 0 means enable position mode for that axis. Bit0: Fx; Bit1: Fy; Bit2: Fz; Bit3: Tx; Bit4: Ty; Bit5: Tz

Buffer

USINT

  • 0: Enter / exit force mode immediately

  • 1: Enter / exit force mode command will be added to the specified mover's motion buffer. If an enter force mode command is added to a macro, then an exit force mode command must also be added after it. If not, an exit force mode command will be automatically added at the end of the macro

XbotID

USINT

ForceX

REAL

When applicable, the desired X force in Newtons.

ForceY

REAL

When applicable, the desired Y force in Newtons. 

ForceZ

REAL

When applicable, the desired Z force in Newtons. 

TorqueX

REAL

When applicable, the desired torque in Rx in Newton-meters.

TorqueY

REAL

When applicable, the desired torque in Ry in Newton-meters.

TorqueZ

REAL

When applicable, the desired torque in Rz in Newton-meters.

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Conditions

Operating Conditions

Operating Conditions

Preconditions

Postconditions

The XBot will enter or exit Force Mode, as specified

Description

Use this command to apply a force in a particular direction instead of maintaining/following a reference position.

The force command allows the user to apply a force in a chosen orientation, while disabling position control in that direction. While the XBot is in force mode, it is possible to move the XBot using the linear motion command as long as the axes affected by the motion command are not in force mode.

Force feedback is provide through the Get XBot Status command. See also Configure Feedback Stream and Read Xbot Force

Force mode command is specified by providing the X, Y, Z, RX, RY, RZ components of the desired force/torque.

 

Behaviour During Obstacles

If Force Mode is enabled in Z only, the XBot will still be able to resume its motion in the event of an obstacle. Otherwise, the XBot will enter the Stopped State and its motion will not be resumed even if the obstacle XBot is moved away. The motion command needs to be sent again.

Feedback and Comments

Please email us at tech.portal@planarmotor.com