Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 89

Interrupt Processing (Mo Trigger)
■ Operation details
The push force and position are inspected simultaneously, and the quality of the work is judged.
Work is judged as being successful if the Z coordinate is less than 5 mm, and a reaction force greater than

18 N is detected in the FZt direction.
If the above conditions are not satisfied within 5 seconds of assembly, assembly is judged as having failed,

and an error is output.
Success
■ Program example <Sample program F807.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 = (+2.00,+2.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
'[Control characteristics (0)]
P_FsGn0 = (+2.00,+2.00,+2.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.0,+0.0,+0.0)(0,0)
P_FsFCd0 = (+0.00,+0.00,+20.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Interrupt> ***
Def MoTrg 1, ((P_Fbc.Z <= 5) AND (P_FsCurD.Z > 18))
Def Act 1,M_MoTrg(1)=1 GoTo *XOK,F
Mvs PStart
SetMoTrg 1
Fsc On,0,0,1
Act 1=1
M_Timer(1)=0
*LBL1: If M_Timer (1) < 5000 Then GoTo *LBL1
Fsc Off
Error 9100
End
*XOK
Act 1=0
SetMoTrg 0
Fsc Off
HOpen 1
P2=P_Fbc
P2.Z=P2.Z+100
Collision
Z=0mm
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X,Y: stiffness control, Z: force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Work complete conditions defined for Mo trigger 1.
'Mo trigger 1 defined as interrupt condition.
'Robot moves over insertion position.
'Mo trigger 1 is enabled.
'Force sense control is enabled. (Insertion started with force control.)
'Interrupt processing 1 is enabled.
'Timer clear
'Waits for timeout time of 5 seconds.
'Force sense control is disabled.
'Error occurs if insertion work not complete within 5 seconds.
'Insertion work complete interrupt processing
'Mo trigger is enabled.
'Force sense control is disabled.
'Feedback position acquisition
'Target position determined as position +100 mm in Z-direction
8 Using the Force Sense Function (Programming)
Failure
Z=10mm
Force Sense Detection 8-77