ABB机器人力保持程序

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),v60Fz:=ForceNum,80ForceFrameRef:=FC_REFFRAME_TOOLForceChange:=200DampingTune:=100TimeOut:=5UseSpdFFWPosSupvDist:=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),v60ForceChange:=400eroContactValue:=-130,toolName;
        !MoveL RelTool(ForceHoldP10,MoveNum - 30,30,-50Rz:=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