Using The Force Sense Function (Teaching) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

9 Using the Force Sense Function (Teaching)

9 Using the Force Sense Function (Teaching)
This Chapter describes how to use the force sense function (force sense T/B) using the teaching pendant, and
how to perform teaching using the force sense function.
Refer to the section numbers and pages under "Reference" in the following table for a "description" and "usage
example" for each function.
Table 9-1: Force sense function usage method reference list (teaching)
Function Class
Force sense control (T/B)
Force
sense Force sense monitor
T/B
Contact detection
Teaching
9-104 Gravity Offset Cancel Function
Function Overview
Controls push force and softness.
Checks force sense data.
Checks the contact position.
Teaches the push position.
Teaches the insertion position (using force
control).
Teaches the insertion position (using stiffness
control).
Reference
Usage
Description
Example
Section
Page 9-111
9.1.1
Section
9.1.2
Page 9-113
Section
9.1.3
Page 9-119
Section Page 9-121
9.2
Page 9-123