Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 65

8.1.2.1 Force Sense Control Coordinate System
The coordinate systems used with force sense control are specified from the following.
Tool coordinate system
Force sense coordinate system (tool)
+FZt
+FYt
The coordinate system direction is the direction in
which the tool coordinate system symbol is reversed,
and the origin is the tool coordinate system origin.
8.1.2.2 Force Sense Control Mode
The force sense control mode is set for each axis. The characteristics of each mode are as follows.
Position Control Mode
As with normal robot control,
Control
the robot is controlled with
method
position commands.
Application This is used in combination
with force control and
stiffness control.
+FXt
+Yt
+Zt
+Xt
Table 8-6: Force sense control mode characteristics
Force Control Mode
The robot is controlled while
pushing with a specified
force.
The force size and direction
are set with the "Force
command value".
Work involving pushing
Grinding work
8 Using the Force Sense Function (Programming)
XYZ coordinate system
Force sense coordinate system (XYZ)
+FX
+FY
The coordinate system direction is the direction in which
the XYZ coordinate system symbol is reversed, and the
origin is the mechanical interface coordinate system
origin.
Stiffness Control Mode/
Limited stiffness control
Controls the robot softly.
Softness is set with the
"Stiffness coefficient".
The limit value for the limited
stiffness control is set with the
"limit value".
Fitting/insertion work
Copying/teaching work
+Z
+Y
+X
+FZ
Force Sense Control 8-53