Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 92

8 Using the Force Sense Function (Programming)
■ Description
The force detection setting value is set and force control is enabled so that the position/force data are
1)
latched when FZt=10 N.
The robot is moved slowly to position PEnd at the speed of 10 mm/s and the spring is pushed.
2)
Each of the position/force data at the moment the spring reaction force at the spring push process
3)
exceeds 10 N is saved to status variables P_FsLmtP and P_FsLmtD.
The current position/force data (P_Fbc, P_FsCurD) when the target position is reached is read, the
4)
amount of change from data saved during the movement is calculated, the spring constant is
calculated, and then saved to variable MSR. (In this example, calculation is performed based on the
assumption that the reaction force at the target position is sufficiently greater than 10 N.)
8-80 Force Sense Detection