Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 126

9 Using the Force Sense Function (Teaching)
(3) Control mode/control characteristics selection (See section
Set the "control mode" and "control characteristics" numbers. In this example, control mode 1 and control
•
characteristics 1 are used, and therefore the settings are as follows.
[R32TB/R33TB]
(4) Force sense control enable operation (See section
Turn the servo ON after enabling force sense control, and then use JOG operation to move the robot to the
•
insertion complete position.
• JOG operation is stopped automatically if unnecessary force acts on the workpiece. (The buzzer also
sounds.)
(5) Force sense monitor (See section
Check the force sense data maximum value with the force sense monitor.
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9-114 Force Sense T/B
9.1.1.3
9.1.2 .)
9.1.1.2 .)
.)