Mitsubishi Electric MELFA BFP-A3614 Manual page 81

Program "4"
1 '----------------------------------------------
2 ' Practice 4 Specifying the speed command value and mode switching judgment value
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 characteristics (0)]
10 P_FsGn0 = (+0.00,+0.00,+3.00,+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,+5.00,+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> ***
16 PStart=(-60.00,-250.00,+350.00,+180.00,+0.00,+90.00)(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 Mov PStart
27 Dly 0.5
28 Fsc On, 0, 0, 1
29 *Loop1
30 If P_FsCurD.Z<=5 Then *Loop1
31 Dly 10
32 Fsc Off
33 Mvs PStart
34 Dly 0.5
35 Hlt
36 End
'Force sense control coordinate system (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
-70-
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (Z-axis
enabled)
'Force control gain [μm/N]
'Force detection setting value [N]
'Force command
'Set speed control mode speed.
'Set force/speed judgment
value.