Mitsubishi CR750 Series Instruction Manual page 106

9 Using the Force Sense Function (Teaching)
<Method 1>...Perform teaching operation after disabling force sense control.
By disabling force sense control, the "command position" changes to the "force sense position command".
<Method 2>...Perform teaching operation after pressing the "Teach pos. search" [Execute] button.
By pressing the "Teach pos. search" [Execute] button while force sense control is enabled, the "command
position" is changed to the "force sense position command" while retaining the force sense control status. If
performing teaching with force sense control enabled, use this method. (See section
searching for the teaching position.)
9.2.1.1 Teaching Position Search
The "teaching position search" function is used to assist position teaching when force sense control is enabled.
While force control is enabled, a position offset with force sense control is added to the normal position
command (position taught with T/B), resulting in a difference between the actual robot position and position
displayed on the teaching pendant. By performing the teaching operation, the position displayed on the teaching
pendant is registered, and so it is necessary to eliminate this difference before performing the teaching
operation. (See section
By executing this function, the "position displayed on the teaching pendant" can be replaced with the "actual
position" with force sense control still enabled.
[Using teaching position search]
R32TB/R33TB
JOG操作画面
<Precautions when using stiffness control>
The spring center position when using stiffness control is the position displayed on the teaching pendant. The
spring center position also moves when performing
other than 0.0 is set, the robot moves a little. Utilizing this characteristic, a position on which no external force
acts can be taught when using stiffness control as shown in the following example.
9-96 Teaching Operation
9.2.1 .)
[FUNCTION] key
[F3] key: Force sense
[FUNCTION] key
[F3] key: Search
The "teaching position search" function is
performed by presing this button. (A
confirmation screen appears.)
teaching position search", and so if a stiffness coefficient of
"
9.2.1.1 for details on
R56TB/R57TB
By pressing the
[F] key, a force
sense control
screen
appears.