Contact Detection - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

9 Using the Force Sense Function (Teaching)

Contact Detection

9.1.3
If the force sense data exceeds the selected "control characteristics" force detection setting value while force
sense control is enabled, JOG operation is automatically stopped. Furthermore, the buzzer sounds and the
force sensor data display field on the teaching pendant changes color to notify the user that the force detection
setting value has been exceeded.
[Contact detection operation]
Set the threshold value used to detect the contact status for the "control characteristics" force
•
detection setting value. (See section
Enable force sense control. (See section
•
If the force sensor data exceeds the force detection setting value during JOG operation, operation is
•
stopped and the buzzer sounds.
The currently selected force detection setting value appears on the teaching pendant. (See below.)
•
R32TB/R33TB
[FUNCTION] key
JOG operation screen
[F3] key: Force sense
[FUNCTION] key
[F2] key: Max. value
 Contact detection precautions 
When the robot is stopped by contact detection, the robot moves from the point the force is

detected until the robot stops, and therefore a larger force than the force detection setting value
may act.
If JOG operation is stopped when the force detection setting value is exceeded, check the force

sensor data value and then move the robot in the direction that the acting force becomes
smaller.
If the force detection setting value is greatly exceeded while force sense control is enabled, it will

not longer be able to perform JOG operation. (Slight movement is possible.) In such a case,
disable force sense control, and then move the robot by JOG operation. When doing so, take
caution not to move in a direction in which a large force acts.
9-110 Force Sense T/B
9.1.1.2 .)
9.1.1 .)
Displays the currently selected
detection setting value.
R56TB/R57TB
By pressing the [F] key, a
force sense control screen
appears.