Mitsubishi CR750 Series Instruction Manual page 163

 Example 2
Sample Program FB02.prg
Performs the insertion movement in the Z-axis direction with the X/Y-direction softened. An error occurs and
movement is interrupted if a force greater than the specified value is applied when inserting.
'Control mode ( 0 ) setting
P_FsStf0=(+0.01,+0.01,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0=(+2.00,+2.00,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0=0
'
characteristics
'Control ( 0 ) setting
P_FsGn0=(+80.00,+80.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0=(+20.00,+20.00,+10.00,+5.00,+5.00,+5.00)(0,0) 'Force detection setting value (Specifies Z-axis direction as 10 [N].)
P_FsFCd0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'
Def Act 1,P_FsLmtX.Z=1 GoTo *ESCP,S
exceeded in Z-direction.
Mov P1
'
FsLog On 'Starts collecting force sense log.
Fsc On,0,0,1 'Enables force sense control with control mode=0, control characteristics =0, and offset cancel enabled.
Spd 5
Act 1=1
Mvs P2 'Performs the insertion movement in the Z-axis direction and performs interrupt processing if the force detection setting
'value is exceeded.
Fsc Off 'Disables force sense control.
FsLog Off,1 'Ends force sense log collection and creates log file No.1.
Act 1=0
End
'
'Interrupt processing
*ESCP
Fsc Off 'Disables force sense control.
Spd 50
Mvs P1 'Retreats to insertion start position.
FsLog Off,1 'Ends force sense log collection and creates log file No.1.
FsOutLog 1 'Transfers log file No.7 to the computer by FTP.
Error 9100 Elicits error L9100.
End
User error elicited at 10 N.
エラ を発生
'Stiffness coefficient (Specifies X/Y-axis component as 0.01 [N/mm].)
'Damping coefficient (no specification)
'Force sense control type (Specifies stiffness control in X/Y-axis direction.)
'Force sense coordinate system (Specifies tool coordinate system.)
'Gain (Specifies X/Y-axis direction as X,Y 80 [10
'Force control (no specification)
' Defines so that interrupt processing performed if the force detection setting value is
'Moves to insertion start position.
11 Language Specifications
N ユ
-3
mm/N].)
Examples 11-153