Teaching Operation; Teaching Position Precautions - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

9.2 Teaching Operation

This Chapter describes teaching operation using force sense control.
 Teaching operation precautions 
If using force sense control, the position displayed on the teaching pendant and the actual robot
position will differ. This will affect teaching operation, and thefore it is necessary to have a proper
understanding of the information in section
seciton 9.2.2 for specific details on the operaiton method.

Teaching Position Precautions

9.2.1
When using force sense control, the robot control controls the following two types of position.
Position
Command Type
(1) Position
command
(2) Force sense
position
command
By performing teaching operation (teaching operation from T/B or current position reading from RT ToolBox2)
from the teaching pendant or RT ToolBox2 while force control is enabled, the position command (1) is taught,
and a position different from the actual robot position (2) is taught.
[Example]...If the force control/stiffness control is enabled for the Z-axis
If teaching the actual position, perform teaching operation after changing the position command (position
command displayed on T/B, etc.) to the force sense position command (actual position) with the following
methods.
9.2.1 before performing teaching operation. Refer to
Description
This is a movement command generated by the robot program and JOG
operation. It is referenced by the current position display and teaching
operations. (Position displayed on T/B)
Position command offset by force sense control.
When force sense control is enabled, the robot moves based on this
command.
By performng teaching operation from the T/B or current position
reading from the RT TooBox2 while force sense control is enabled,
position command (1) is taught. The force sense command position
(2) is not taught, and the taught position and actual position will
differ.
* The command position (1) will change by performing
JOG operation, however, the actual position (2) is
offset with force sense control.
Fig. 9-1: Teaching position precautions
9 Using the Force Sense Function (Teaching)
(2) Force sense position command (current position)
Automatically offset with force sense control.
(1) Position command (position taught with T/B, etc.)
Teaching Operation 9-115