Mitsubishi Electric MELFA BFP-A3614 Manual page 151

Exercise 2-1 Program example
1 '----------------------------------------------
2 ' Exercise 2)-1 Following operation (follow the curved surface)
3 '----------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0 = (+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
6 P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
7 P_FsMod0 = (+0.00,+0.00,+1.00,+2.00,+0.00,+0.00)(0,0)
8 M_FsCod0 = 0
9 '[Control characteristics (0)]
10 P_FsGn0 = (+0.00,+0.00,+5.00,+20.00,+10.00,+10.00)(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 PStart=(+225.00,-193.00,+220.00,+180.00,+0.00,+180.00)(7,0)
17 '----- Move the robot to PStart position in advance!
18 Tool (+0.00,+0.00,+185.00,+0.00,+0.00,+0.00)
19 Loadset 1,1
20 OAdl On
21 Spd M_NSpd
22 Ovrd M_Novrd
23 Cnt 0
24 Servo On
25 Wait M_Svo=1
26 GoSub *Home
27 Dly 0.5
28 Fsc On, 0, 0, 1
29 PNow=P_Fbc*(+0.00,+0.00,-185.00)
30 Dly 1
31 *Loop1
32 PNow2=P_Fbc*(+0.00,+0.00,-185.00)
33 MChk1=Zone2(PNow2,PNow,PNow,0.2)
'Force sense control coordinate system (0/1: Tool/XYZ)
'Set the speed to initial value. (*Valid only for CP control)
'Set the override to initial value.
'Set the continuous operation for interpolation to initial value.
'Start force sense control
'Store the center position of flange to Pnow
'Store the center position of flange after one
second to Pnow2
'Check that Pnow2 is inside 0.2 mm diameter
sphere of Pnow
-140-
'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
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