Mitsubishi Electric MELFA BFP-A3614 Manual page 147

(→ Continuation of program example in Exercise 1-3 Hand insertion (phase focusing), gear rotation
confirmation, pulling out operation)
71 *ISOU_Loop
72 Def Act 1,P_Fbc.Z < MCHK GoTo *ISOU_Fin1
73 Fsc On, 0, 0, 0
74 Act 1=1
75 Dly 30
76 Act 1=0
77 Fsc Off
78 Dly 0.1
79 PTRG=P_Fbc
80 Dly 0.1
81 Mvs PTRG+(+0.00,+0.00,+30.00)
82 Mvs PB+(+0.00,+0.00,+30.00)
83 Dly 0.1
84 Mvs PB+(+0.00,+0.00,+2.00)
85 Dly 0.2
86 GoTo *ISOU_Loop
87 *ISOU_Fin1
88 Act 1=0
89 Fsc Off
90 Dly 0.1
91 P_FsMod0 = (+1.00,+1.00,+1.00,+2.00,+2.00,+2.00)(0,0)
92 P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
93 Dly 0.1
94 PB=P_Fbc
95 Mvs PB
96 Dly 0.1
97 Fsc On,0,0,0
98 *Loop7
99 Dly 0.1
100 If P_Fbc.Z > Mjudge+2 Then *Loop7
101 Dly 1
102 Fsc Off
103 Dly 0.1
'Force control mode (XYZ-axis enabled)
(Continue to the next page →)
-136-
'Start force sense control
'Force command