Mitsubishi CR750 Series Instruction Manual page 103

Contact Detection/Force Sense Monitor
■ Operation details
JOG operation is stopped automatically if unnecessary force acts on the workpiece. Check the maximum value
for force applied to the workpiece.
■ Operation procedure
(1) Parameter settings

When inserting, stiffness control (stiffness coefficient = 0) is specified only in the X- and Y-directions to
ensure that the robot can move freely in response to the reaction force.

Set the "force detection setting value" so that the robot stops following contact detection when a force of 5
N or more acts in the FXt, Fyt, or FZt directions, and a moment of 0.05 N·m or more acts in the MXt, MYt,
or MZt directions. (See table below.)
Control Force sense control
mode coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Control
Force command
charact
value
eristics
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
(* In this example, settings are specified with parameters, however, setting is also possible with
status variables.)
(2) Offset cancel operation (See section

Perform force sensor zero point offset.
* Perform offset cancel with no external forces acting other than gravity.
(3) Control mode/control characteristics selection (See section

Set the "control mode" and "control characteristics" numbers. In this example, control mode 1 and control
characteristics 1 are used, and therefore the settings are as follows.
[R32TB/R33TB]
JOG operation is
stopped if unnecessary
force is applied.
FSCOD01
FSFMD01
FSSTF01
FSDMP01
FSFCMD01
FSSPD01
FSSWF01
FSFGN01
FSFLMT01
9.1.1.1 .)
9 Using the Force Sense Function (Teaching)
0
+2.00, +2.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+1.50, +1.50, +0.00, +0.00, +0.00, +0.00
+5.00, +5.00, +5.00, +0.05, +0.05, +0.05
9.1.1.2 .)
Force Sense T/B 9-93