Usage Example (Contact Detection/Force Sense Monitor) - Mitsubishi Electric MELFA BFP-A3614 Manual

(3) Usage example (contact detection/force sense monitor)

Operation details
JOG operation is stopped automatically if unnecessary force acts on the workpiece. Check
the maximum value for force applied to the workpiece.
Operation procedure
(1) Parameter settings
• When inserting, stiffness control (stiffness coefficient = 0) is specified only in the X- and Y-directions to
ensure that the robot can move freely in response to the reaction force.
• Set the "force detection setting value" so that the robot stops following contact detection when a force of
5 N or more acts in the FXt, Fyt, or FZt directions, and a moment of 0.1 N·m or more acts in the MXt,
MYt, or MZt directions. (See table below.)
Control Force sense control
mode
coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Control Force command value
charact
Speed command value
eristics
Mode switching judgment value FSSWF01
Force sense control gain
Force detection setting value
(* In this example, settings are specified with parameters, however, setting is also possible with
status variables.)
(2) Offset cancel operation
Perform force sensor zero point offset.
* Perform offset cancel with no external forces acting other than gravity.
(3) Control mode/control characteristics selection
Set the "control mode" and "control characteristics" numbers. (In this example, control mode 1 and
control feature 1 are used.)
(4) Force sense control enable operation
Turn the servo ON after enabling force sense control, and then use JOG operation to move the robot to
the insertion complete position.
JOG operation is stopped automatically if unnecessary force acts on the workpiece. (The buzzer also
sounds.)
(5) Force sense monitor
Check the force sense data maximum value with the force sense monitor.
JOG operation is stopped if
unnecessary force is applied.
FSCOD01 0
FSFMD01 +2.00, +2.00, +0.00, +0.00, +0.00, +0.00
FSSTF01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSDMP01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSFCMD01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSSPD01 +0.00, +0.00, +0.00, +0.00, +0.00, +0.00
+0.00, +0.00, +0.00, +0.00, +0.00, +0.00
FSFGN01 +1.00, +1.00, +0.00, +0.00, +0.00, +0.00
FSFLMT01 +5.00, +5.00, +5.00, +0.10, +0.10, +0.10
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