Mitsubishi CR750 Series Instruction Manual page 110

9 Using the Force Sense Function (Teaching)
Teaching the Insertion Position (Using Force Control)
■ Teaching details
Teach the ideal insertion position on which no external force acts.
 Operation procedure
(1) Parameter settings

Select all axes and force control, and set the force command so that the robot is pushed with a force of 5 N
in the FZt direction, and external force is eliminated for all other axes. (FXt=FYt=0N, MXt=MYt=MZt=0 N·m)
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 insertion 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 (stiffness control).
 The robot automatically moves to the insertion complete position with force control. (The robot moves slowly
to the extent that the force sense control gain is lowered.)
* Adjust the force command or force sense control gain if required.
(5) Teaching (There are two teaching methods.)
<Method 1>
 Ensure that the force sensor data is Fz=5N and that other axis components are 0 N / 0 N·m, and then
disable force sense control with the servo ON.
<Method 2>
 Ensure that the force sensor data is Fz=5N and that other axis components are 0 N / 0 N·m, and then
perform "teaching position search" with the servo ON. (See section
9-100 Teaching Operation
FSCOD01
0
FSFMD01
+1.00,+1.00,+1.00,+1.00,+1.00,+1.00
FSSTF01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSDMP01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSFCMD01
+0.00,+0.00,+5.00,+0.00,+0.00,+0.00
FSSPD01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSSWF01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
FSFGN01
+0.50,+0.50,+0.50,+0.10,+0.10,+0.10
FSFLMT01 +0.00,+0.00,+0.00,+0.00,+0.00,+0.00
9.1.1.1 .)
9.1.1.2
9.1.1.3 .)
.)
9.2.1.1 .)