Usage Example (Force Sense Function T/B) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Usage Example (Force Sense Function T/B)

9.1.4
Force Sense Control T/B (Force Control)
 Operation details
The robot is pushed with a force of 20 N in the Z-direction (tool coordinates) with the teaching pendant.
Force sense
coordinate system
(tool)
FZt
FYt
FXt
 Operation procedure
(1) Parameter settings
Set the "control mode" and " control characteristics " so that the robot is pushed with a force of 20 N in the
•
tool Z-direction. (See table below.)
• Settings are easy using the dedicated screen at the RT ToolBox2 (or R56TB/R57TB). Furthermore,
parameters relating to the control mode/control characteristics are updated immediately, and therefore
there is no need to reboot the controller. (See section
Control Force sense control
mode coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Control
Force command
charact
value
eristics
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
(* In this example, settings are specified with parameters, however, setting is also possible with status
variables.)
(2) Offset cancel operation (See section
Perform force sensor zero point offset.
•
* Perform offset cancel with no external forces acting other than gravity.
FZt = 20 N
12.2
FSCOD01 0
FSFMD01 +0.00, +0.00, +1.00, +0.00, +0.00, +0.00
FSSTF01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSDMP01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSFCMD01 +0.00, +0.00, +20.00, +0.00, +0.00, +0.00
FSSPD01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSSWF01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSFGN01 +0.00, +0.00 ,+5.00, +0.00, +0.00, +0.00
FSFLMT01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
9.1.1.1 .)
9 Using the Force Sense Function (Teaching)
.)
Force Sense T/B 9-111