Application Examples - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

10 Application Examples

Part Assembly Work (Force Control)
 Operation details
Assembles parts so that no unnecessary force acts on the parts when following the part fitting shape.
The robot is controlled using force control so that the force acting in the X- and Y- directions is 0.0 N.

The work complete condition is defined in the Mo trigger, and work is completed by interrupt processing.

 Program example <Sample program FA01.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+1.00,+1.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+3.00,+3.00,+3.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0=(+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0=(+0.00,+0.00,+4.00,+0.00,+0.00,+0.00)(0,0)
'*** <Assembly work> ***
Def MoTrg 1, ((P_Fbc.Z <= 151) AND (P_FsCurD.Z > 4.8))
Def Act 1,M_MoTrg(1)=1 GoTo *XOK,F
Mvs PStart
SetMoTrg 1
Fsc On,0,0,1
Act 1=1
M_Timer(1)=0
*LBL1:If M_Timer(1) < 5000 Then Goto *LBL1
Fsc Off
Error 9100
End
'*** <Work completed> ***
*XOK'
Act 1=0
SetMoTrg 0
Fsc Off
HOpen 1
P2=P_Fbc
P2.Z=P2.Z+100
Mvs P2
End
PStart
(0)]
'
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X,Y,Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force control (X,Y-axis: 0.0 N, Z-axis: 5.0 N)
'Sets speed control mode speed. (Z-axis: 10 mm/s)
'Sets force/speed judgment value.
'Work complete conditions defined for Mo trigger 1.
'Mo trigger 1 defined as interrupt condition.
'Robot moves over insertion position.
'Mo trigger 1 is enabled.
'Force sense control is enabled. (Insertion started with force
control.)
'Interrupt processing 1 is enabled.
'Timer clear
'Waits for timeout time of 5 seconds.
'Force sense control is disabled.
'Error occurs if insertion work not complete within 5
seconds.
'Insertion work complete interrupt processing
'Mo trigger is enabled.
'Force sense control is disabled.
'Feedback position acquisition
'Target position determined as position +100 mm in
Z-direction from current position.
Force Sense Function Screen 10-131
10 Application Examples
Z=150 mm