Force Sense Detection - Mitsubishi CR750 Series Instruction Manual

8.2 Force Sense Detection

The force sense detection function detects the robot contact status using force sensor information. By using this
function, applications with high degree of freedom can be constructed in MELFA-BASIC V to detect contact
during movement, change the movement direction, detect work failures, and perform retry operation or error
processing and so on.
<Features>
Trigger conditions combining force data and position data can be set. (Mo trigger)
1)
Interrupt processing for start-up and shut-down conditions can be performed for force sensor data
2)
force detection setting values (set with Fsc On command conditions group (control characteristics).
Sensor data and position data obtained when the force detection setting value is exceeded can be
3)
retained as status variables.
Current and maximum force sensor data values can be referenced.
4)
Status variables for the force sense detection function are as follows.
Status
Class
Variable
Mo trigger M_MoTrg
Force M_FsLmtS
detection
status
P_FsLmtR
Data latch P_FsLmtX
P_FsLmtP
P_FsLmtD
Data P_FsMaxD
referencing
P_FsCurD
P_FsCurP
M_FsCSts

Refer to section 8.1.2

Refer to section 11.3
Table 8-9: Force detection related status variables
Checks the Mo trigger status.
Checks whether the force sensor data force detection setting value has been
exceeded.
Checks the status of the current force sensor data with respect to the force
sensor data force detection setting value.
Checks/resets axes for which the force sensor data force detection setting
value is exceeded.
Checks/resets the robot FB position when the force sensor data force detection
setting value is exceeded.
Checks/resets the force sensor data when the force sensor data force detection
setting value is exceeded.
Checks/resets the force sensor maximum data value during force sense
control.
Checks the current force sensor data.
Checks the current position command offset with force sense control.
Checks the force sense control enabled/disabled status.
for details on force setting values.
for details on status variables.
8 Using the Force Sense Function (Programming)
Function Overview
Force Sense Detection 8-59