Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 76

8 Using the Force Sense Function (Programming)
Force Control 2 (Force-Speed Priority Mode Switching)
■ Operation details
The robot is moved at a speed of 5 mm/s in the tool Z-direction and pushed with a force of 10 N the moment it
collides.
Force control is started from the PStart position, and the robot is moved in speed priority mode at a speed

of 5 mm/s in the tool Z-direction.
The system detects when the force applies in the force sense coordinate system (tool) +FZt direction

reaches 2.5 N or greater, switches to force priority mode, and pushes with a force of 10 N.
Speed priority
mode
Robot moves at speed of
5 mm/s in the tool
Z-direction (direction in
which +FZr direction force
acts when contact is
made) until it collides.
■ Program example <Sample program F802.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+0.00,+0.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+0.00,+0.00,+30.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+2.50,+0.00,+0.00,+0.00)(0,0)
'*** <Force control (force-speed hybrid)> ***
Servo On
Mov PStart
Dly 1
Fsc On,0,0,1
Dly 10
Fsc Off
End
8-64 Force Sense Control
5mm/s
(0)]
Force priority
mode
Force sense control
coordinate system
(tool)
PStart
Contact (reaction force of 2.5
N or greater) is made, mode
switches to force priority
mode, and robot pushes with
force of 10 N.
'Stiffness coefficient [N/mm]  No setting required
'Damping coefficient
'Force sense control mode (Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]  No setting required
'Force command
'Sets speed control mode speed.
'Mode switching judgment value
(switch threshold FZt=2.5N)
'Move to start point.
'Force sense control enabled (drop start with force control)
FZt
FYt
FXt
10 N