Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 82

8 Using the Force Sense Function (Programming)
■ Description
Changes the control characteristics (force command direction, speed command when in speed
1)
priority mode) when the conditions specified for the Mo trigger are established using the FsCTrg
command. (See section
The Mo trigger is defined with the Def MoTrg command. In this example, Mo trigger condition 1 is
2)
established when Fy > 4.5 N is satisfied.
After moving to PStart, force control is started with the < Control characteristics (0)> conditions
3)
using the Fsc On command. The force direction and movement direction at this time are as follows.
When Mo trigger condition 1 is established (when position A is reached) with the FsCtrg command,
4)
the control characteristics is changed from "0" to "-1". The movement direction at this time is as
follows. (The FsCtrg command has a timeout function, allowing an error to be generated if
conditions are not established within the specified time.)
The system waits until position B is reached (Fx>=4.5N) using the If command, and force sense
5)
control is then stopped.
8-70 Force Sense Control
8.2.1 for details on the Mo trigger.)
Axis Movement Direction
Direction
X Moves to the position where reaction force of
Fx=-5N can be obtained.
Y Moves to the position where reaction force of
Fy=+5N can be obtained. However, if the
reaction force is less than 3 N, the robot moves
in speed priority mode to achieve a speed of 10
mm/s.
Z No movement
Axis Movement Direction
Direction
X Moves to the position where reaction force of
Fx=+5N can be obtained. However, if the reaction
force is less than 3 N, the robot moves in speed
priority mode to achieve a speed of 10 mm/s.
Y Moves to the position where reaction force of
Fy=+5N can be obtained.
Z No movement