Mitsubishi Electric MELFA BFP-A3614 Manual page 139

Exercise 1-2 Program example
1 '----------------------------------------------
2 ' Exercise 1)-2 Perform phase focusing for the gear at hand insertion, and pulling out operation
3 '----------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0 = (+0.00,+0.00,+0.00,+0.10,+0.10,+0.10)(0,0)
6 P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
7 P_FsMod0 = (+1.00,+1.00,+1.00,+2.00,+2.00,+2.00)(0,0)
8 M_FsCod0 = 0
9 '[Control characteristics (0)]
10 P_FsGn0 = (+5.00,+5.00,+5.00,+8.00,+8.00,+8.00)(0,0)
11 P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
12 P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
13 P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
14 P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
15 '*** <Force control> ***
16 Tool (+0.00,+0.00,+185.00,+0.00,+0.00,+0.00)
17 '----------- Preparation ----------
18 '1) Teach position above the cylinder closest to the gear P2
19 '2) Teach retract position
20 '-------------------------------
21 Mjudge=67.6
22 Loadset 1,1
23 OAdl On
24 Ovrd M_NOvrd
25 Spd M_NSpd
26 Servo On
27 Wait M_Svo=1
28 '----- Retract position return -----
29 If P_Fbc.Z < PHome.Z Then
30 PNow=P_Fbc
31 PNow.Z=PHome.Z
32 Mvs PNow
33 EndIf
34 Mov PHome
'Force sense control coordinate system (0/1: Tool/XYZ)
PHome
'Insert judgment condition (Z: measure in 1) - 1)
-128-
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (XYZ-axis
enabled)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Set the speed of the speed
control mode
'Set the force/speed judgment
value
'Tool setting
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