Mitsubishi Electric MELFA BFP-A3614 Manual page 161

Exercise 3-1 Program example
1 '---------------------------------------------------------------
2 ' Exercise 3) Interrupt processing, data latch
3 '---------------------------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+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,+0.00,+0.00,+0.00)(0,0)
8 M_FsCod0 = 0
9 '[Control Feature (0)]
10 P_FsGn0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
11 P_FsFLm0 = (+20.00,+20.00,+25.00,+1.00,+1.00,+1.00)(0,0)
12 P_FsFCd0 = (+0.00,+0.00,+4.90,+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 '*** <Control> ***
16 Tool (+0.00,+0.00,+185.00,+0.00,+0.00,+0.00)
17 GoSub *INIT
18 *Main
19 '----- 1st Try -----
20 Fsc On,0,0,1
21 *Loop_001:If P_FsCurD.Z <= 5 Then *Loop_001
22 Dly 0.2
23 If P_FsCurD.Z <5 Then *Loop_001
24 Fsc Off
25 Dly 0.2
26 P2=P_Fbc
27 '-------------------
28 Mvs P1
29 Dly 0.2
30 '-------------------
31 P_FsFCd0 = (+0.00,+0.00,+9.80,+0.00,+0.00,+0.00)(0,0)
32 '-------------------
33 M3=0
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (Z-axis
enabled)
'Force sense control coordinate
system (tool)
'Set the speed of the speed
control mode
'Set the force/speed judgment
value
'Force command
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' Force control gain [µm/N]
'Force detection setting
value [N]
'Force command