Mitsubishi CR750 Series Instruction Manual page 54

8 Using the Force Sense Function (Programming)
8.1.2.5 Force Command Value
Sets the force command value for force control (force priority mode). When force control is enabled, the robot
moves so that the reaction force specified with the force command value can be obtained.
If no external force acts on the robot (if no contact is made), the robot moves in the force command value
direction and reaction force direction (direction in which the specified force is produced when contact is made.)
<Example> The movement when force control mode is specified only for the FZt direction and the force
command value is FZt = +5 N is as follows.
If contact made
(if external force acting)
If no contact made
(if no external force acting)
The movement speed when no external force is acting is dependent on the force sense control gain and force
command. (The greater the force sense control gain and force command, the faster the movement.) If
specifying the speed at this point, set the "Speed command value".
8.1.2.6 Speed Command Value
Specifies the movement speed for force control (speed priority mode) when no contact is made with the target
object. Use if performing work while automatically switching between speed control and force control, or to
minimize impact by restricting the approach speed to the target object.
Set the switching condition for "speed priority mode" and "force priority mode" with the "Mode switching
judgment value". If the speed command value is 0.0, priority mode switching is not performed. Force priority
mode is always performed.
Speed constant
Speed priority mode
8-44 Force Sense Control
+FZt
+FYt
Table 8-7: Behavior corresponding to force command
Robot Behavior
The robot is moved while offsetting its position until FZt = 5 N.
The robot moves in the +Zt direction so that external force is produced in the
force command direction when contact is made.
The movement speed is proportional to the force sense control gain x force
command.
The priority mode is switched automatically based on the sensor
data value. (The threshold value is set with the "Mode switching
judgment value".)
+FXt
+Yt
+Zt
+Xt
Foce priority mode
Force constant