Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 198

11 Language Specifications
PX(1)=P0
PX(2)=P0
PY(1)=P0
PY(2)=P0
PX(1).X=P0.X+10
PX(2).X=P0.X-10
PY(1).Y=P0.Y+10
PY(2).Y=P0.Y-10
'
Fsc Off
P_FsFLm0=(+2.00,+2.00,+5.00,+5.00,+5.00,+5.00)(0,0)
Fsc On,0,0,1
MFLG=0
'
For M1=1 To 2
Mvs PX(M1) WthIf P_FsLmtR.X=1,Skip 'Moves ±10 mm in the X-axis direction and skips if the force detection setting is exceeded.
If M_SkipCq=1 Then
PX(M1)=P_FsLmtP
MFLG=MFLG+1
EndIf
Mvs P0
Fsc Off
Fsc On,0,0,1
Next M1
'
For M1=1 To 2
Mvs PY(M1) WthIf P_FsLmtR.Y=1,Skip ' Moves ±10 mm in the Y-axis direction and skips if the force detection setting is exceeded.
If M_SkipCq=1 Then
PY(M1)=P_FsLmtP
MFLG=MFLG+1
EndIf
Mvs P0
Fsc Off
Fsc On,0,0,1
Next M1
'
If MFLG=4 Then
PTMP=(PX(1)+PX(2))/2
P0.X=PTMP.X
PTMP=(PY(1)+PY(2))/2
P0.Y=PTMP.Y
Else
Error 9100
EndIf
End
11-186 Examples
'The position ±10 mm in the XY-direction from the reference position is calculated.
'If skipped, the position at which the force detection setting value is exceeded is retained.
'Force sense control is temporarily enabled to reset P_FsLmtP.
'If skipped, the position at which the force detection setting value is exceeded is retained.
' Force sense control is temporarily enabled to reset P_FsLmtP.
'4 points are found.
'The X-axis direction center position is set for P0.
' The Y-axis direction center position is set for P0.
'4 points are not found.
'Elicits error L9100.
'Changes the X,Y-axis direction force detection setting value to 2 [N].