Mitsubishi Electric MELFA BFP-A3614 Manual page 68

Program "1"
1 '----------------------------------------------------------------------------
2 ' Practice 1 Selecting force sense control coordinate system and specifying force control mode
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 = (+1.00,+1.00,+1.00,+0.00,+0.00,+0.00)(0,0)
8 M_FsCod0 = 0
9 '[Control characteristics (0)]
10 P_FsGn0 = (+8.00,+8.00,+8.00,+0.00,+0.00,+0.00)(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,+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 '*** <Force control> ***
16 PStart=(+235.00,+0.00,+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 Fsc On, 0, 0, 1
27 Dly 60
28 Fsc Off
29 Servo Off
30 Wait M_Svo=0
31 Hlt
32 End
'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
'Enabled for 60 seconds
-57-
'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 speed control mode speed.
'Set force/speed judgment value.