Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 149

[Description]
(1) Enables the force sense control function using force sensor. (Default: Disabled)
(2) The force sense control content is specified with the "control mode" and "control characteristics " condition
Nos. set beforehand.
(3) If the force sensor is not connected and this command is executed, error L3986 occurs.
(4) This command cannot be executed when the force sense control function is enabled (error L3987 occurs.) If
changing the "control mode" or "control characteristics ", execute the Fsc Off command to disable the force
sense control function, and then execute the Fsc On command again. However, the "control characteristics
" can be changed during operation using the FsGChg command or FsCTrg command.
(5) "Control mode" and "control characteristics " 1 to 9 use setting values for each corresponding parameter.
(Refer to Table 11-2 for details of setting items contained in control mode and control characteristics.)
(6) If the "control mode" or "control characteristics " is 0 or -1, conditions set with dedicated status variables are
used. The default status is the same setting as if "control mode" and "control characteristics " 1 is specified.
(Refer to Table 11-2 for details of setting items contained in control mode and control characteristics.)
(7) If the offset cancel designation is 1, force sensor data becomes 0 for all axes when this command is
executed, and the senor offset component is offset (zero point offset). No offset is made if the offset cancel
designation is 0.
(8) If the offset cancel designation is 1 and a value is set in the following data specified in the <control mode>
(force sense calibration executed), the offset component cancel data is updated in sequential consideration
of the load while the force sense control is turned on.
- Force sensor bias value
- Load center of gravity position
- Load mass
(9) If the offset cancel designation is 1, execute this command after the robot stops completely. If the command
is executed immediately after the movement, the zero point offset may not be performed properly due to an
inertial force.
(10) The force sense control enabled/disabled status and "control mode"/"control characteristics" settings are
common to both AUTOMATIC and MANUAL modes.
(11) Even if an interpolation continuous command is specified with the Cnt command, the command is executed
after waiting for the robot movement to be completed.
(12) Force sense control is disabled by performing a program reset or executing an End command. (See Fig.
11-1.)
(13) Force sense control processing functions only when the servo is ON. Even if force sense control is enabled,
force sense control processing is not performed while the servo is OFF. If the servo is turned OFF while
performing force sense control processing, processing is stopped. Force sense control processing is then
resumed by turning the servo ON again. (See Fig. 11-1.)
Power ON
If program selectable
when changed to
AUTOMATIC mode
(14) When force sense control is not being performed, force sensor data checks using the force detection setting
value are not performed.
Fsc On command
Enable operation with T/B
Force sense
control disabled
Fsc Off command
Disable operation with T/B
End command
Program reset operation
Fig. 11-1: Force sense control function status transition
Servo ON
Force sense
control enabled
Servo OFF
Commands Relating to Force Sense Control Function 11-137
11 Language Specifications
Force
sense
control
execution
Fsc Off command
TDisable operation with T/B
End command
Program reset operation
Force sense control error
occurrence