Mitsubishi CR750 Series Instruction Manual page 9

8.2 Force Sense Detection ............................................................................................................................ 8-59
8.2.1 Mo Trigger .......................................................................................................................................... 8-60
8.2.2 Force Detection Status ....................................................................................................................... 8-63
8.2.3 Data Latch .......................................................................................................................................... 8-63
8.2.4 Data Referencing................................................................................................................................ 8-63
8.2.5 Usage Example (Force Sense Detection) .......................................................................................... 8-65
8.3 Force Sense log ....................................................................................................................................... 8-70
8.3.1 Force Sense Log Function Specifications .......................................................................................... 8-70
8.3.2 Parameter Settings............................................................................................................................. 8-72
8.3.3 Force Sense Log Data Acquisition ..................................................................................................... 8-73
8.3.4 Force Sense Log Data Display (RT ToolBox2)................................................................................... 8-74
8.3.5 Force Sense Log File FTP Transfer ................................................................................................... 8-79
8.3.6 Usage Example (Force Sense Log) ................................................................................................... 8-80
9 Using the Force Sense Function (Teaching)......................................................................................... 9-83
9.1 Force Sense T/B ...................................................................................................................................... 9-84
9.1.1 Force Sense Control (T/B) ................................................................................................................. 9-84
9.1.2 Force Sense Monitor .......................................................................................................................... 9-88
9.1.3 Contact Detection ............................................................................................................................... 9-89
9.1.4 Usage Example (Force Sense Function T/B)..................................................................................... 9-90
9.2 Teaching Operation .................................................................................................................................. 9-95
9.2.1 Teaching Position Precautions ........................................................................................................... 9-95
9.2.2 Usage Example (Teaching Operation) ............................................................................................... 9-98
9.3 Force Sense Function Screen ............................................................................................................... 9-102
9.3.1 R56TB/R57TB .................................................................................................................................. 9-102
9.3.2 R32TB/R33TB .................................................................................................................................. 9-105
10 Application Examples ..................................................................................................................... 10-109
11 Language Specifications..................................................................................................................11-113
11.1 Commands Relating to Force Sense Control Function.......................................................................11-113
11.2 Status Variables Relating to Force Sense Control Function ...............................................................11-121
11.3 Commands Relating to Force Sense Detection Function ...................................................................11-131
11.4 Status Variables Relating Force Sense Detection Function................................................................11-134
11.5 Commands Relating to Force Sense Log Function ............................................................................11-145
11.6 Other Related Commands ..................................................................................................................11-148
11.7 Examples.............................................................................................................................................11-152
12 Parameter Specifications................................................................................................................ 12-157
12.1 Force Sense Function Related Parameter List.................................................................................. 12-157
12.2 RT ToolBox2 Force Sense Function Parameter Setting Screen........................................................ 12-160
12.3 R56TB/R57TB Force Sense Function Parameter Setting Screen..................................................... 12-163
13 Troubleshooting.............................................................................................................................. 13-166
13.1 Behavior when Force Sense Control Errors Occur............................................................................ 13-166
13.2 Force Sense Fuction Related Error List............................................................................................. 13-166
13.3 Force Control Function Related Error Details.................................................................................... 13-168
14 Appendix......................................................................................................................................... 14-173
14.1 Control Status Transition.................................................................................................................... 14-173