Usage Example (Teaching Operation) - Mitsubishi CR750 Series Instruction Manual

9 Using the Force Sense Function (Teaching)

Usage Example (Teaching Operation)

9.2.2
Teaching a Position Pushed with Fixed Force
■ Teaching details
Teach the position at which the spring reaction force becomes 25 N.
25 N
■ Operation procedure
(1) Parameter settings

Select force control for the Z-axis only, and set so that the robot is pushed with a force of 25 N in the tool
coordinate system +Z-direction. (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

Offset the force sensor zero point after first moving to the push start position (posture) by JOG operation.
* 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.
(4) Force sense control enable operation (See section

Turn the servo ON after enabling force sense control.

The robot automatically moves to the position in the tool coordinate system +Z-direction at which a reaction
force of 25 N can be obtained.
9-98 Teaching Operation
Teach this position.
Spring
FSCOD01
FSFMD01
FSSTF01
FSDMP01
FSFCMD01
FSSPD01
FSSWF01
FSFGN01
FSFLMT01
9.1.1.1 .)
0
+0.00, +0.00, +1.00, +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, +25.00, +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, +5.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
9.1.1.2 .)
9.1.1.3 .)