Usage Example (Force Sense Log) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Usage Example (Force Sense Log)

8.3.6
Force Sense Log Data Acquisition and Display
■ Operation details
Acquires data for the force acting on the workpiece when performing assembly work and displays it in a graph.
Pin insertion work is performed after starting force sense log data acquisition.

After work is complete, force sense log data acquisition is terminated and log data acquired during work is

saved.
Acquired log data is displayed in a graph using the RT ToolBox2 force sense control log viewer function.

■ Program example <Sample program F809.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
'[Control characteristics (0)]
P_FsGn0 = (+5.00,+5.00,+5.00,+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,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Log data acquisition> ***
Mov PStart
Dly 1
FsLog On
Fsc On, 0, 0, 1
*LBL1: If P_FsCurD.Z < 4.5 Then Goto *LBL1
Fsc Off
FsLog Off ,999
End
Force sense log data displayed in graph in RT ToolBox2.
'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 command (X,Y-axes: 0.0 N, Z-axis: 5.0 N)
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force sense log data acquisition start
'Force sense control enable (offset cancel designation)
'Force sense control enable
'Log file creation (File name: 999.fsl)
'
8 Using the Force Sense Function (Programming)
Force Sense log 8-91