Control Mode / Control Characteristics - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Control Mode / Control characteristics

8.1.2
When enabling force sense control, it is necessary to specify conditions for starting force sense control. Table
Table 8-3 shows a list of setting items relating to force sense control conditions.
Setting Item
Force sense control coordinate
system
Force sense control mode
Stiffness coefficient
Damping coefficient
Force sensor bias value
Load center of gravity
position
Load mass
Force command value
Limit value
Speed command value
Mode switching judgment
value
Force sense control gain
Force detection setting value
As shown in "Table 8-4", these conditions are registered with parameters and status variables. Up to 11 types of
settings can be registered for each setting item. (9 types of parameter, 2 types of status variable)
Table 8-3: Force sense control conditions
Description
Defines the coordinate system for force sense
control.
Select from Tool coordinate system/XYZ coordinate
system.
Selects the force sense control method for each
force sense control coordinate system axis.
Select from Positional control/Force
control/Stiffness control/limited stiffness control.
Sets the softness for axes for which stiffness
control/limited stiffness control is selected.
The greater the value, the stiffer the movement.
Sets the responsiveness for axes for which force
control or stiffness control/limited stiffness control is
selected.
Adjust if vibrations are experienced on contact.
Bias value of the force sensor is set.
The bias value of the force sensor will be a
constant offset occurring in the sensor in a no
load.
(by tightening at the time of installation a force
sensor)
Sets the center of gravity position of the load
that attached to the force sensor.
Sets the mass of the load that attached to the
force sensor.
Sets the force command for force control (force
priority mode).
The robot pushes with the specified force.
Sets the limit value for the limited stiffness
control.
Controls the robot's force within the setting
value.
Sets the speed command for force control (speed
priority mode).
Used at such times as wishing to specify the
movement speed at times of no contact.
Sets the speed/force control mode switching
judgment value.
This is valid only when a speed command value has
been set.
Sets the response sensitivity for axes for which
force control/limited stiffness control or stiffness
control is selected.
Adjustment is required based on the stiffness of the
target object.
Sets the force detection setting value.
This is used for the force sense detection and
contact detection functions.
8 Using the Force Sense Function (Programming)
These values must be set
only at the time of gravity
offset cancel use.
These values because
these are set
automatically by the force
calibration function, so
you do not need to be set
again. (See section
Force Sense Control 8-49
Remarks
8.4 )