Force Sense T/B; Force Sense Control (T/B) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

9.1 Force Sense T/B

The force sense functions that can be used from R56TB/R57TB/R32TB/R33TB are summarized in "Table 9-2".
Table 9-2: Force sense functions that can be used from teaching pendant
Force Item
Force sense
control (T/B)
Force sense
monitor
Force sense
monitor
Each function is described below.

Force Sense Control (T/B)

9.1.1
JOG operation using force sense control can be performed from the teaching pendant. Force sense control
facilitates more precise teaching operations such as controlling the robot softly to the assembly position while
escaping external force, and teaching positions pushed with a fixed force. (See section
sense control.)
If performing JOG operation while using force sense control, use the following procedure to sufficiently check
the setting status before turning the servo ON.
[Turning the servo ON when force sense control is enabled]
Step 1: Offset cancel operation (See section
...Ensure that the force sensor offset component has been cancelled.
Step 2: Control mode/control characteristics selection (See section
...Ensure that the used control mode/ control characteristics have been set correctly.
Step 3: Force sense control enabled/disabled selection (See section
...Check the force sense control enabled/disabled status.
Function Overview
Force control Pushes with the specified force using force control.
Stiffness control Controls the robot softly like a spring.
Force sense data Displays the force sensor data current value on the
display T/B.
Max. value Retains the force sensor data maximum value.
retention (Resetting is possible.)
Automatic stop Stops the robot automatically when contact is
detected during JOG operation.
Buzzer sound Sounds the buzzer when the contact detection
threshold is exceeded.
9.1.1.1
Servo ON
9 Using the Force Sense Function (Teaching)
.)
9.1.1.2
9.1.1.3
8.1 for details on force
.)
.)
Force Sense T/B 9-105