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Controller
CR750 Series
Instruction manual
Mitsubishi CR750 Series Instruction Manual
Force sense function
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Also See for CR750 Series
:
Operating manual
(39 pages)
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
1 Using this Manual
Terminology Used in this Instruction Manual
2 Work Flow
Flowchart
3 Force Sense Function System Specifications
What Is the Force Sense Function
System Configuration
Force Sense Function Specifications
Force Sense Interface Unit Specifications
Force Sense Interface Unit External Dimensions
Name of each Force Sense Interface Unit Part
Force Sensor Connection Cable
VDC Output Cable
VDC Power Supply Outline Drawing
Force Sensor Specifications
Force Sensor External Dimensions
Sensor Attachment Adapter External Dimensions
Coordinate System Definition
Force Sense Coordinate System (Mechanical Interface)
Force Sense Coordinate System (Tool)
Force Sense Coordinate System (XYZ)
Force Sensor Coordinate System
4 Check before Use
Product Check
Force Sensor
Software Versions
5 Attaching the Force Sensor
Attachment Adapter
Sensor Installation
Attachment
Recommended Attachment Angle
6 Device Connection, Wiring, and Settings
Force Sense Unit Robot Controller
Force Sense Interface Unit Force Sensor
Turning on the Power
Default Parameter Settings
Force Sense Interface Unit Identification
Calibration
Force Sensor Tolerance
Force Sensor Control Offset Limit
Force Sensor Data Filter Setting
7 Checking the Connection and Settings
Checking Force Sensor Data Communication
If Using R56TB/R57TB
If Using R32TB/R33TB
Checking the Force Sensor Attachment Coordinate System
8 Using the Force Sense Function (Programming)
Using the Force Sense
Force Sense Control
Force Sense Enable/Disable Commands
Function
Using the Force Sense
Control Mode / Control Characteristics
Offset Cancel Designation
Control Characteristics Change Commands
Usage Example (Force Sense Control)
Force Sense Detection
Mo Trigger
Force Detection Status
Data Latch
Data Referencing
Force Sense Log
Force Sense Log Function Specifications
Function (Teaching)
Parameter Settings
Force Sense Log Data Acquisition
Force Sense Log Data Display (RT Toolbox2)
Force Sense Log File FTP Transfer
Usage Example (Force Sense Log)
9 Using the Force Sense Function (Teaching)
Force Sense T/B
Force Sense Control (T/B)
Force Sense Monitor
Contact Detection
Usage Example (Force Sense Function T/B)
Teaching Operation
Teaching Position Precautions
Usage Example (Teaching Operation)
Force Sense Function Screen
R56Tb/R57Tb
R32Tb/R33Tb
10 Application Examples
11 Language Specifications
Commands Relating to Force Sense Control Function
Status Variables Relating to Force Sense Control Function
Commands Relating to Force Sense Detection Function
Status Variables Relating Force Sense Detection Function
Commands Relating to Force Sense Log Function
Other Related Commands
Examples
12 Parameter Specifications
Force Sense Function Related Parameter List
RT Toolbox2 Force Sense Function Parameter Setting Screen
R56TB/R57TB Force Sense Function Parameter Setting Screen
13 Troubleshooting
Behavior When Force Sense Control Errors Occur
Force Sense Fuction Related Error List
Force Control Function Related Error Details
14 Appendix
Control Status Transition
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Quick Links
1
Terminology Used in this Instruction Manual
2
Using this Manual
3
Troubleshooting
4
Force Sense Fuction Related Error List
5
Behavior When Force Sense Control Errors Occur
Download this manual
Mitsubishi Electric Industrial Robot
CR750/CR751 Controller Instruction Manual
Force Sense Function
BFP-A8947
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This manual is also suitable for:
Cr750-q
Cr751 series
Cr751-d
Cr751-q
Cr750-d
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