Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 104

8 Using the Force Sense Function (Programming)
■ Description
Specifies settings to push the robot with a force of 0.0 N in the X- and Y-directions, and 5.0 N in the
1)
Z-direction with force control.
The FsLog On command is executed to start log data acquisition.
2)
Insertion work is started with the Fsc On command, and the robot pushes until a reaction force of 4.5
3)
N or greater acts in the Z-direction.
The FsLog Off command is executed to end log data acquisition. (The log data file name is set for the
4)
argument.)
Measurement data is displayed in a graph using the RT-ToolBox2 "force sense control log file viewer"
5)
to check the force acting on the workpiece. (See section
sense control log file viewer.)
8-92 Force Sense log
8.3.4 for details on how to use the force