Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 166

11 Language Specifications
[Example]
1 Def MoTrg 1, ((P_Fbc.Z <= 100) Or (P_FsCurD.Z >= 10)) And (P_FsCurP.C < -45DEG)
' Defines the ON trigger as Mo trigger No.1 by satisfying the following conditions (1) and (2).
' (1) FB position Z-axis value is 100 mm or less, or Z-axis direction force sensor data is 10 N
' (2) Force sense command C-axis value is less than -45°.
[Description]
(1) Defines Mo trigger conditions with this command. The following data can be specified as trigger conditions.
Data
Each P_Curr
component
Each P_Fbc
component
Each J_Curr
component
Each J_Fbc
component
Each P_FsCurP
component
Each P_FsCurD
component
M_FsRsltF
M_FsRsltM
M_In
M_Out
(2) The defined Mo trigger is enabled by executing the SetMoTrg command. The Mo trigger is not enabled
simply by defining with this command.
(3) If the Mo trigger for the trigger No. defined with this command is enabled, the trigger turns ON when the
specified conditions are satisfied.
(4) If multiple Def MoTrg commands are described for the same trigger No., the definition executed last is
applied.
(5) By executing this command for an enabled trigger No. Mo trigger, that Mo trigger becomes disabled, and
changes to a new definition.
(6) Up to 3 trigger Nos. can be defined for the Mo trigger. However, only one of these can be enabled. It is not
possible to enable multiple Mo triggers.
(7) Mo trigger conditions are defined for the robot. Unlike the Def Act command, if a sub-program is called with
the CallP command, or if mechanical control rights are moved to another slot with the GetM or RelM
commands, this command setting is continued.
(8) Specify the same mechanical number for status variables used in <Conditions>. If mechanical Nos. are
mixed, an error occurs when running the program. (Error L.3110)
(9) If a non-existent mechanical number is specified for the status variable used in <Conditions>, an error
occurs when running the program. (Error L.3870)
(10) With robots that are not compatible with force sense control, it is not possible to specify P_FsCurP,
P_FsCurD, M_FsRsltF, or M_FsRsltM for <Conditions>. An error occurs when running the program. (Error
L.3986)
11-154 Commands Relating to Force Sense Detection Function
or greater.
Robot current position (XYZ data)
Robot FB position (XYZ data)
Robot current position (joint data)
Robot FB position (joint data)
Position command after offsetting with force control
Force sensor data (values after updating offset cancel, converting
Tool/XYZ coordinates)
Force sensor data resultant force (values after updating offset cancel,
converting tool/XYZ coordinates)
Force sensor data resultant moment (values after updating offset cancel,
converting tool/XYZ coordinates)
Input signal ON/OFF status
Output signal ON/OFF status
Description