Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 135

Teaching the Insertion Position (Using Stiffness Control)
 Teaching details
Teach the ideal insertion position on which no external force acts.
 Operation procedure
(1) Parameter settings
Specify force stiffness control for all axes until the robot becomes suitably soft.
•
Control Force sense control
mode coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Control Force command
charact value
eristics
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
(* In this example, settings are specified with parameters, however, setting is also possible with
status variables.)
(2) Offset cancel operation (See section
• Offset the force sensor zero point after first moving to the insertion start position (posture) by JOG
operation.
* Perform offset cancel with no external forces acting other than gravity.
(3) Control mode/control characteristics selection (See section
Set the "control mode" and "control characteristics " numbers.
•
(4) Force sense control enable operation (See section
• Turn the servo ON after enabling force sense control (stiffness control).
Move the robot to the insertion complete position by JOG operation. (Lower OVRD if required.)
•
Perform teaching position search" to move the control center value so that no unnecessary external force
•
"
acts on the workpiece during movement.
(5) Teaching
Perform teaching position search" several times while checking the force sense sensor data displayed on
•
"
the teaching pendant.
• Ensure that the robot is moving to a position at which external force no longer acts, and then teach the
current position with force sense control still enabled.
0
FSCOD01
FSFMD01 +2.00,+2.00,+2.00,+2.00,+2.00,+2.00
FSSTF01 +0.10,+0.10,+0.50,+0.10,+0.10,+0.10
FSDMP01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
+0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSFCMD01
+0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSSPD01
+0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSSWF01
+0.50,+0.50,+0.50,+0.50,+0.50,+0.50
FSFGN01
+0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSFLMT01
9.1.1.1 .)
9.1.1.2
9.1.1.3 .)
9 Using the Force Sense Function (Teaching)
.)
Teaching Operation 9-123