Q & A - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

13 Troubleshooting
13.4 Q & A
The robot vibrates
during the force
sense control.
The robot moves to
an unintended
direction during the
force sense control.
The robot moves like
a bouncing on contact
during the force
sense control.
13-206 Q & A
Cause
Force sense control gain is high.
The response sensitivity of the sensor
is high.
The minimum control force is small.
Incorrect setting of a calibration
parameter.
The offset cancel operation (sensor
zero point offset) of the sensor is not
performed.
The offset cancel operation is
performed before the robot is
completely stopped.
The offset cancel operation is
performed when the external force is
applied to the sensor.
The force from a cable etc. is applying.
Incorrect attachment of the sensor.
Force sense control gain is high.
Operating speed on contact is high.
Measures
Decrease the force sense control gain.
(section 8.1.2.9 )
Increase the filter time constant of the force
sensor data. (section 6.5.5
Increase the minimum control force of the
force sensor. (section 6.5.6
Confirm the setting of a calibration
parameter. (section 6.5.2
Perform the offset cancel operation. (section
8.1.3 )
Use the Dly command etc., and wait until the
robot complete stop and the sensor data
become stabilizing, and then perform the
offset cancel operation of the sensor.
(section 8.1.3 )
Perform the offset cancel operation without
the external force applied to the sensor.
(section 8.1.3 )
Do not attach in such a way as to prevent
movement of moveable parts of the force
sensor. Confirm the cable fixation place.
(section 5.2 )
Confirm followings.
- Contact between the sensor attachment
surface and sensor attachment adapter.
- Tightening torque of the built-in bolt of
sensor.
(section 5.2 )
Decrease the force sense control gain.
(section 8.1.2.9 )
When a contact object is hard, decrease the
operating speed at the time of contact.
(section 8.1.2.7 )
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