Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 10

7.1.2 If Using R32TB/R33TB ....................................................................................................................... 7-43
7.2 Checking the Force Sensor Attachment Coordinate System ................................................................... 7-44
8 Using the Force Sense Function (Programming) ................................................................................. 8-45
8.1 Force Sense Control ................................................................................................................................ 8-46
8.1.1 Force Sense Enable/Disable Commands .......................................................................................... 8-48
8.1.2 Control Mode / Control characteristics ............................................................................................... 8-49
8.1.3 Offset Cancel Designation .................................................................................................................. 8-59
8.1.4 Control characteristics Change Commands ....................................................................................... 8-60
8.1.5 Usage Example (Force Sense Control) .............................................................................................. 8-62
8.2 Force Sense Detection ............................................................................................................................ 8-71
8.2.1 Mo Trigger .......................................................................................................................................... 8-72
8.2.2 Force Detection Status ....................................................................................................................... 8-75
8.2.3 Data Latch .......................................................................................................................................... 8-75
8.2.4 Data Referencing ................................................................................................................................ 8-75
8.2.5 Usage Example (Force Sense Detection) .......................................................................................... 8-76
8.3 Force Sense log ....................................................................................................................................... 8-81
8.3.1 Force Sense Log Function Specifications .......................................................................................... 8-81
8.3.2 Parameter Settings ............................................................................................................................. 8-83
8.3.3 Force Sense Log Data Acquisition ..................................................................................................... 8-84
8.3.4 Force Sense Log Data Display (RT ToolBox2) ................................................................................... 8-85
8.3.5 Force Sense Log File FTP Transfer ................................................................................................... 8-90
8.3.6 Usage Example (Force Sense Log) ................................................................................................... 8-91
8.4 Gravity Offset Cancel Function ................................................................................................................ 8-94
8.4.1 Estimated data .................................................................................................................................... 8-94
8.4.2 About Calibration Posture ................................................................................................................... 8-94
8.4.3 Calibration Procedure ......................................................................................................................... 8-95
8.4.4 Usage Example (Force Sensor Calibration) ..................................................................................... 8-102
9 Using the Force Sense Function (Teaching) ....................................................................................... 9-104
9.1 Force Sense T/B .................................................................................................................................... 9-105
9.1.1 Force Sense Control (T/B) ............................................................................................................... 9-105
9.1.2 Force Sense Monitor ........................................................................................................................ 9-109
9.1.3 Contact Detection .............................................................................................................................. 9-110
9.1.4 Usage Example (Force Sense Function T/B) .................................................................................... 9-111
9.2 Teaching Operation ................................................................................................................................. 9-115
9.2.1 Teaching Position Precautions .......................................................................................................... 9-115
9.2.2 Usage Example (Teaching Operation) .............................................................................................. 9-119
9.3 Force Sense Function Screen ............................................................................................................... 9-124
9.3.1 R56TB/R57TB .................................................................................................................................. 9-124
9.3.2 R32TB/R33TB .................................................................................................................................. 9-127
10 Application Examples ..................................................................................................................... 10-131
11 Language Specifications ..................................................................................................................11-135
11.1 Commands Relating to Force Sense Control Function ....................................................................... 11-135
11.2 Status Variables Relating to Force Sense Control Function ............................................................... 11-143
11.3 Commands Relating to Force Sense Detection Function ................................................................... 11-153
11.4 Status Variables Relating Force Sense Detection Function ................................................................ 11-156
11.5 Commands Relating to Force Sense Log Function ............................................................................ 11-169
11.6 Related Commands for Gravity Offset Cancel Function ..................................................................... 11-172
11.7 Related Status Variables for Gravity Offset Cancel Function .............................................................. 11-175
11.8 Other Related Commands .................................................................................................................. 11-179
11.9 Examples ............................................................................................................................................. 11-183
12 Parameter Specifications ................................................................................................................ 12-188
12.1 Force Sense Function Related Parameter List .................................................................................. 12-188
12.2 RT ToolBox2 Force Sense Function Parameter Setting Screen ........................................................ 12-192
12.3 R56TB/R57TB Force Sense Function Parameter Setting Screen ..................................................... 12-195