Mo Trigger - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

Mo Trigger

8.2.1
The Mo trigger function is used to issue trigger signals when conditions are established based on conditions
defined by combining the following data with a comparison operation. The Mo trigger status is output to status
variable M_MoTrg.
Data
Each P_Curr component
Each P_Fbc component
Each J_Curr component
Each J_Fbc component
Each P_FsCurP component
Each P_FsCurD component
M_FsRsltF
M_FsRsltM
M_In
M_Out
By using this function, complicated trigger conditions can be specified for use with work completion
judgment/interrupt processing when abnormal work is performed (DEF ACT command), and for changing force
sense control characteristics (FsCTrg command), and so on.
To use the Mo trigger, define trigger conditions with the following procedure, and then start condition monitoring.
<Mo trigger setting procedure flow>
(1) Define trigger conditions with the Def MoTrg command. Up to three types of conditions can be set.
(2) Enable the Mo trigger with the SetMoTrg command.
(3) Perform condition branching and interrupt processing using values output to status variable M_MoTrg.
* Procedures (2) and (3) are unnecessary if using FsCTrg command.
8-72 Force Sense Detection
Robot current position (linear data)
Robot FB position (linear data)
Robot current position (joint data)
Robot FB position (joint data)
Position command after offsetting with force control
Force sensor data (values after updating offset cancel, converting tool/XYZ
coordinates)
Force sensor data resultant force (values after updating offset cancel,
converting tool/XYZ coordinates)
Force sensor data resultant moment (values after updating offset cancel,
converting tool/XYZ coordinates)
Input signal ON/OFF status
Output signal ON/OFF status
Description