Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 140

9 Using the Force Sense Function (Teaching)
Screen Name
Force sense control
top screen
9-128 Force Sense Function Screen
Table 9-5: Screen overview
<Detection mode>
Detection mode is enabled when changing from the JOG operation screen.
•
By operating the [-X] [+X] [-Y] [+Y] [-Z] [+Z] [-A] [+A] [-B] [+B] [-C] [+C] keys in
•
detection mode, JOG operation can be performed. (* Operation rights required.)
JOG operation types correspond to the JOG operation screen immediately before
•
changing to the force sense control top screen.
(The selected JOG operation type appears in the center of the screen.)
<Monitoring mode>
• Monitoring mode is enabled when changing from the extension function menu
screen.
• JOG operation is not possible in monitoring mode.
"Monitor" appears in the top center of the screen.
•
Screen
Display
Displays the current force sensor data (corresponding to status variable
P_FsCurD.)
* Displays values converted to the force sense coordinate system (Tool/XYZ).
"Fx" - "Mz"
If the force sensor data exceeds the detection setting value during JOG
operation, the background color of the exceeded data changes and the buzzer
sounds.
"Force Displays the current force sense control function enabled (ON)/disabled (OFF)
Sense" status.
"Mode No." Displays the currently specified control mode No.
"Feature No." Displays the currently displayed control
Function
Changes the force sense control function enabled/disabled status.
(* Operation rights required.)
ON/OFF The "Mode No." and "Feature No." values are used for the control mode and
[F1]
control
Offset cancel is not performed.
Setting Changes to the force detection setting value screen.
Condition Changes to the conditions setting screen if force sense control is disabled.
[F2]
Max.
Changes to the maximum value display screen.
Value
Offset Changes to the cancel confirmation screen.
[F3]
Search Changes to the position search execution confirmation screen.
JOG Changes to the JOG operation screen.
[F4]
Close Changes to the extension function menu screen.
Overview
The screen changes by pressing
the [FUNCTION] key.
The screen changes by pressing
the [FUNCTION] key.
Meaning
Description
characteristics
.
characteristics
No.