14 Appendix
Fsc ON command
Enabling of force sense with T/B
Power ON
Force sense
control
disabled
Fsc Off command
Disabling of force sense with T/B
End Command
Program reset
Force sense control related error
Program selection possible
Key switch change
Fsc ON command
Enabling of force sense with T/B
Power ON
Force sense
control
disabled
Fsc Off command
Disabling of force sense with T/B
Enc Command
Program reset
Force sense control related error
Caution
Caution
Caution
14-174 Control Status Transition
[AUTOMATIC mode]
[Manual mode]
Stop input in the above diagram refers to a stop input from the operation panel,
teaching pendant, I/O, or RT ToolBox2.
However, stoppages with the Hlt command and stop inputs by releasing the key
during step or JOG operation are not included.
If a stop is input and the offset amount becomes fixed while pushing with force sense
controller the moment contact is made with the target object, error H.094n (servo
amplifier overload) or H.096n (servo amplifier error excessive) may occur. (n is axis
No.)
If the operation key switch is set to "MANUAL", robot movement by force sense
control will not stop even if a stop is entered. To stop robot movement by force sense
control, release the teaching pendant enable switch and turn OFF the servo power.
Force sense
control enabled
Stop input/emergency stop input
Error (H level/L level)
Operation interrupted
Offsetting
Start point input
Step operation
Jog operation
Servo OFF
Processing
Key switch change
Force sense
control enabled
Servo OFF
Processing
Offsetting
stopped
Servo ON
stopped
Offsetting
Servo ON
stopped