Mitsubishi CR750 Series Instruction Manual page 78

8 Using the Force Sense Function (Programming)
Data Latch/Data Referencing
■ Operation details
Position data and force data during push movement is latched, and the spring part spring constant is calculated.

Data is set to that position and force data is saved at the point FZt=10 N is exceeded. (Data latch function)

The robot is moved to the final push position, and the spring constant is calculated from the current position
and force data and data obtained with the data latch function.
10 N
■ Program example <Sample program F808.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 = (+200.00,+200.00,+10.00,+7.0,+7.0,+7.0)(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)
'*** <Spring constant calculation> ***
Mvs PStart
Spd 10
Fsc On,0,0,1
Fine 100
Mvs PEnd
MFD=P_FsCurD.Z-P_FsLmtD.Z
MPD=Abs(P_Fbc.Z-P_FsLmtP.Z)
MSR=MFD/MPD
Fsc Off
End
8-68 Force Sense Detection
(1) Position/force data
when FZt=10 N is
latched.
'Robot moves above start position.
'Force sense control is enabled. (push start with force control)
'Robot waits until positioning movement is complete.
'Force displacement calculation (N)
'Spring displacement calculation (mm)
'Spring constant is calculated (N/mm).
' Force sense control is disabled.
30 N
'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.
(2) After reachng target
position, current
position/force data
and position/force
data obtained during
movement are
obtained.
(3) Spring constant is
calculated using
acquired data.