Commands Relating To Force Sense Detection Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11.3 Commands Relating to Force Sense Detection Function

This section describes MELFA-BASIC V commands relating to the force sense detection function (Mo trigger
function).
No. Command
1 Def MoTrg
2 SetMoTrg
Def MoTrg (Def Mo trigger)
[Function]
Defines trigger conditions (Mo trigger) that reference position commands and the FB position, as well as
force sensor data and so on.
[Syntax]
Def MoTrg <Trigger No.>, <Conditions>
[Terminology]
<Trigger No.>
<Conditions>
* Up to 4 types of <Conditions> can be combined and used with And and Or operators.
[Example: (<Condition A> And <Condition B>) Or (<Condition C> And <Condition D>)]
* If rotational axis component data is specified for <Specification data>, the unit for the data used for
conditions judgment will be radians. If using a numeric constant for <Numerical data>, use radian
values, or append "DEG" such as in "45DEG", and then convert to radians.
Table 11-6 Mo trigger commands
Defines trigger conditions (Mo trigger) that reference position commands and the
FB position, as well as force sensor data and so on.
Enables/disables trigger conditions (Mo trigger) that reference position
commands and the FB position, as well as force sensor data and so on.
Specifies the defined Mo trigger No. with a constant.
Setting range: 1 - 3
Conditions under which the Mo trigger turns ON are described with the following
syntax.
<Specification data> <Comparison operator> <Numerical data>
<Specification data>
• Status variables
All components of P_Curr, P_Fbc, J_Curr, J_Fbc, P_FsCurP,
P_FsCurD, M_FsRsltF, M_FsRsltM
• Input signal M_In
• Output signal M_Out
<Numerical data>
• Numeric constants, numeric variables, numeric array variables
• Position variable component data
• Joint variable component data
* If a variable is set, the variable when executing this command is
used for trigger condition judgment.
(Even if a variable is changed after executing this command, it is
not updated to the judgment.)
Function Overview
The following robot (system) status variables can be used.
The following constants and variables can be used.
Commands Relating to Force Sense Detection Function 11-153
11 Language Specifications