Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 120

9 Using the Force Sense Function (Teaching)
9.1.1.3 Force Sense Control Enable/Disable Selection
Enable or disable force sense control. If performing JOG operation using force sense control, select "Enable",
and if performing normal JOG operation, select "Disable".
The enable/disable selection is common to both automatic operation and JOG operation. The enable/disable
status is retained even if the controller key switch is changed to and from MANUAL and AUTOMATIC.
<Example 1>
Force sense control enabled in automatic operation → operation interrupted → Operation key switch
changed to MANUAL → T/B enabled → force sense control enabled status retained.
< Example 2>
Force sense control enabled with T/B → T/B disabled → Operation key switch changed to AUTOMATIC →
force sense control enabled status retained.
However, if the enabled/disabled status differs when interrupting and resuming robot program automatic
operation, error L3986 occurs when resuming operation.
Caution
[Force sense control enable/disable operation]
Enable/disable force sense control with the ON/OFF button. (See below.)
•
The enabled/disabled status is displayed on the T/B screen. (See below.)
•
R32TB/R33TB
JOG operation screen
[F1] key: Enables/disable force sense
control with ON/OFF button.
9-108 Force Sense T/B
The force sense control enable/disable status is retained even when automatic
operation is stopped and the operation mode changed to MANUAL mode. Perform
teaching after checking the force sense control enable/disable status, and control mode/
control characteristics settings sufficiently.
[FUNCTION] key
Displays
enabled/disa
bled status.
[F3] key:
Force sense
R56TB/R57TB
Enable/disable force sense
control with ON/OFF button.
By pressing the [F] key, a
force sense control screen
appears.