Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 80

8 Using the Force Sense Function (Programming)
■ Description
After the robot moves to the position 3 mm over the contact position, wait for 1 s until the robot comes
1)
to a complete stop.
Force sense control (force control) is started with the Fsc On command.
2)
The control characteristics change conditions are specified with the FsGChg command. In this sample
3)
program, the control characteristics setting is changed gradually from "0" to "-1" over a period of 500
ms when the movement command position reaches the point between the movement start position
and movement end position.
The control characteristics change starts at the midpoint (50% position) while moving to P2, and the
4)
force command value is increased gradually.
8-68 Force Sense Control