Mitsubishi CR750 Series Instruction Manual page 75

Usage Example (Force Sense Detection)
8.2.5
Interrupt Processing (M_FsLmtS)
■ Operation details
Abnormal force is detected at times of collision and the robot comes to an emergency stop.

The force detection status is constantly monitored, and when contact is made, the robot is stopped swiftly
and interrupt processing is executed.
■ Program example <Sample program F806.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+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 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
'[Control characteristics (0)]
P_FsGn0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+50.00,+50.00,+50.00,+0.50,+0.50,+0.50)(0,0)
P_FsFCd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Interrupt> ***
Def Act 1, M_FsLmtS=1 GoTo *XERR, F
Spd 10
Fsc On, 0, 0, 1
Act 1=1
Mvs P1
Fsc Off
End
*XERR
Act 1=0
Error 9100
End
■ Description
When the force/moment exceeds the force detection setting value specified with the status variable P_FsFLm0,
the status variable M_FsLmtS value changes from 0 to 1. By using this status variable M_FsLmtS as an
interrupt signal, error processing can be performed when unnecessary force acts on the workpiece or sensor,
Collision
8 Using the Force Sense Function (Programming)
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (All axis position control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force sense enable (offset cancel designation)
' Act 1 is enabled.
'
'Force sense disable
' Act 1 is disabled.
'Error occurrence
Force Sense Detection 8-65