Chapter 9 Force Sense Detection; Force Sense Detection - Mitsubishi Electric MELFA BFP-A3614 Manual

Chapter 9 Force Sense Detection

9.1 Force Sense Detection

The force sense detection function detects the robot contact status using force sensor information.
By using this function, the moving direction can be switched by detecting contact during the movement,
and the work can be retried or error processing can be executed by detecting the work failure.
<Features>
1) Trigger conditions combining force data and position data can be set. (Mo trigger)
2) Interrupt processing for start-up and shut-down conditions can be performed for force sensor
data force detection setting values (set with Fsc On command conditions group (control
characteristics).
3) Sensor data and position data obtained when the force detection setting value is exceeded can
be retained as status variables.
<Status variables for force sense detection function>
Status
Class
Variable
Mo trigger M_MoTrg
Force M_FsLmtS
detection
status
P_FsLmtR
Data latch P_FsLmtX
P_FsLmtP
P_FsLmtD
Data P_FsMaxD
referencing
P_FsCurD
P_FsCurP
M_FsRsltF
M_FsRsltM
M_FsCSts
* For the force detection setting value, refer to
"Chapter5 5.4 (11) Specifying the force detection setting value (P_FsFLm0/P_FsFLm1,
FSFLMT0#)".
Checks the Mo trigger status.
Checks whether the force sensor data force detection setting value has
been exceeded.
Checks the status of the current force sensor data with respect to the force
sensor data force detection setting value.
Checks/resets axes for which the force sensor data force detection setting
value is exceeded.
Checks/resets the robot FB position when the force sensor data force
detection setting value is exceeded.
Checks/resets the force sensor data when the force sensor data force
detection setting value is exceeded.
Checks/resets the force sensor maximum data value during force sense
control.
Checks the current force sensor data.
Checks the current position command offset with force sense control.
Checks the current force sensor resultant force.
Checks the current force sensor resultant moment.
Checks the force sense control enabled/disabled status.
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Function Overview