Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 79

Control control characteristics Change 1
■ Operation details
The push force (control characteristics) is changed during robot movement.
The robot starts moving from P1 to P2 while pushing with a force of 5.0 N in the Z-direction.

The push force is increased gradually from areas with operating rate exceeding 50% until a final force of

12.0 N is reached.
Force
■ Program example <Sample program F804.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+0.00,+0.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+0.00,+0.00,+4.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
characteristics
'[Control
P_FsGn1 = (+0.00,+0.00,+4.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd1 = (+0.00,+0.00,+12.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Force control (control
Spd 10
Servo On
Mvs P1, -3
Dly 1
Fsc On, 0, 0, 1
Dly 3
FsGChg 50,500, -1
Mvs P2
Fsc Off 'Force sense disable
End
P1
5.0 N
(0)]
(-1)]
characteristics
change)> ***
'Moves to position 3 mm over contact position.
'Force sense control enable
'Set so that control characteristics changes to -1 at 50% position. (Change time: 500 ms)
8 Using the Force Sense Function (Programming)
50%
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force sense control mode (Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
P2
12.0 N
Force Sense Control 8-67