Phase Focusing Push - Mitsubishi Electric MELFA BFP-A3614 Manual

(2) Phase Focusing Push

 Operation details
The robot inserts into a metal axis while searching for a d-cut gear phase.
The robot rotates in the C-axis direction while pushing softly in the Z-direction with robot stiffness

softened by stiffness control.
When the gear and metal axis phases match, the moment around the Z-axis (Mz) increases.

The Mz increase is detected and push work is started.

Mvs P2
 Program example
1 '------------------------------------------------------
2 ' Appendix 6 Reference Case (2) Phase focusing push
3 '------------------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0=(+0.00,+0.00,+3.00,+0.00,+0.00,+0.50)(0,0)
6 P_FsDmp0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
7 P_FsMod0=(+2.00,+2.00,+2.00,+0.00,+0.00,+2.00)(0,0)
8 M_FsCod0 = 0
9 '[Control characteristics (0)]
10 P_FsGn0 =(+2.50,+2.50,+2.50,+0.00,+0.00,+2.50)(0,0)
11 P_FsFLm0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.05)(0,0)
12 P_FsFCd0=(+0.00,+0.00,+0.00,+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 '[Control characteristics (-1)]
16 P_FsGn1 =(+2.50,+2.50,+0.00,+0.00,+0.00,+3.00)(0,0)
17 P_FsFLm1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
18 P_FsFCd1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
19 P_FsSpd1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
20 P_FsSwF1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
21 '*** <Assembly work> ***
22 Mvs PStart
23 Dly 1
D-cut gear
Pushes while rotating.
Metal axis
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X,Y,Z,C: stiffness control)
'Force sense control coordinate system (tool)
'Force control gain [μm/N]
'Force detection setting value [N] (Mz=0.05[Nm])
'Force control
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force control gain [μm/N] (Z axis=0.0[μm/N])
'Force detection setting value [N]
'Force control
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Robot moves over insertion position.
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