Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 77

■ Description
Force sense control is started with the Fsc On command based on the conditions set for "Control
1)
mode (0)" and "Control characteristics (0)".
If the external force is less than the "mode switching judgment value (FZt=2.5N)" specified with the
2)
status variable P_FsSwF0, "speed priority mode" is applied and the robot moves at the speed
specified with the status variable P_FsSpd0. The movement direction is the direction in which the
reaction force specified with P_FsFCd0 can be obtained when contact is made.
If the external force is equal to or greater than the "mode switching judgment value (FZt=2.5N)", "force
3)
priority mode" is applied, and the robot pushes with the force specified with P_FsFCd0.
8 Using the Force Sense Function (Programming)
Force Sense Control 8-65