Application Examples - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

10 Application Examples

■Description
With force control, the robot is set to push with a force of 0.0 N in the X- and Y-directions, and 5.0 N in
1)
the Z-direction. Furthermore, if the reaction force in the Z-direction is less than 4 N, the robot moves at
a speed of 10 mm/s in speed priority mode.
Work complete conditions are defined for Mo trigger 1 with the Def MoTrg command. (In this example,
2)
when Z ≤ 151 mm and Fzt > 4.8 N, it is judged that insertion work is complete.)
After moving to the assembly start position, by enabling Mo trigger 1 followed by force sense control,
3)
insertion work is started automatically.
If insertion work is not completed within 5 seconds of work starting, a 9100 error is output and insertion
4)
work is stopped.
If insertion work is completed successfully, M_MoTrg(1)=1 and interrupt processing (label: *XOK) is
5)
performed.
10-132 Force Sense Function Screen