Specifying The Mode Switching Judgment Value (P_Fsswf0/P_Fsswf1, Fsswf0#) - Mitsubishi Electric MELFA BFP-A3614 Manual

(10) Specifying the mode switching judgment value (P_FsSwf0/P_FsSwf1, FSSWF0#)

Set the threshold used for the switching judgment for "speed priority mode" and "force priority
mode" when the speed command value is set.
When the force control is enabled, the speed priority mode and force priority mode can be
switched based on the force specified in each axis.
P_FsSwf0 / P_FsSwf1 =
= - (force sensor tolerance value) to + (force sensor tolerance value)
△
Program example
Operate in 10 [mm/s] until the robot contacts the target in -Z-direction with 5 [N], and
apply 10 [N] after contact.
P_FsFCd0 = (0, 0, 1.0, 0, 0, 0, 0, 0)(0, 0) · · · Apply +10 N to tool Z-direction when
P_FsSpd0 = (0, 0, 10, 0, 0, 0, 0, 0)(0, 0) · · · Set the speed of Z-direction to 10 mm/s
P_FsSwf0 = (0, 0, 5, 0, 0, 0, 0, 0)(0, 0) · · · Switch to force priority mode when +5 N is
Moves in 10 mm/s
<Force priority mode>
 Data from the force sensor is used to control the robot until the force specified with the force
specification value is reached.
 The robot moves in the direction which satisfies the force specification value by following the
axis direction for which force control is specified.
 The offset speed for force control is limited to the speed command value or below.
<Speed priority mode>
 The robot is controlled so that the speed specified with the speed command value is reached.
 The robot moves in the direction which satisfies the force specification value by following the
axis direction for which force control is specified.
10 mm/s
Up to
5 N
Contact in 10 mm/s until the
force applied reaches 5 N
(△ , △ , △ , △ , △ , △
X, Y, Z · · · [N]
A, B, C · · · [N·m]
switched to force priority mode
applied to Z-direction
10 mm/s
10N
-68-
,0,0)(0,0)
Apply 10 N when the force
applied reaches 5 N