Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 145

Phase Focusing Push
 Operation details
The robot inserts into a metal axis while searching for a d-cut gear phase.
The robot rotates in the C-axis direction while pushing softly in the Z-direction with robot stiffness softened

by stiffness control.
When the gear and metal axis phases match, the moment around the Z-axis (Mz) increases.

The Mz increase is detected and push work is started.

Mvs P2
 Program example <Sample program FA02.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+3.00,+0.00,+0.00,+0.50)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+2.00,+2.00,+2.00,+0.00,+0.00,+2.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+2.50,+2.50,+2.50,+0.00,+0.00,+2.50)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.05)(0,0)
P_FsFCd0 = (+0.00,+0.00,+0.00,+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)
characteristics
'[Control
P_FsGn1 = (+2.50,+2.50,+0.00,+0.00,+0.00,+3.00)(0,0)
P_FsFLm1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Assemby work> ***
Mvs PStart
Dly 1
Ovrd 5
Fsc On,0,0,1
Mvs P1
start pos.
Mvs P2 Wthif M_FsLmtR.C>0, Skip
If M_SkipCq = 0 Then *LERR
performed.
FsGChg 0,10,-1
Mvs ,10
HOpen 1
Fsc Off
Mvs PStart
End
*LERR
Error 9100
End
D-cut gear
Pushes while rotating.
Metal axis
(0)]
(-1)]
'
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X,Y,Z,C: stiffness control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N] (Mz=0.05Nm)
'Force control
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force control gain [µm/N] (Z axis=0.0[µm/N])
'Force detection setting value [N]
'Force control
'Sets speed control mode speed. (Z-axis: 10mm/s)
'Sets force/speed judgment value.
' Robot moves over insertion position.
'X,Y,Z,C-axes set to stiffness control.
'Robot moves to pos. pushed approx. 1 mm from assembly
'C-axis is rotated and skip occurs when Mz≥0.5 N·m.
'Proceeds to failure processing if skip processing not
characteristics
'"Control
'Tool moved 10 mm in +Z-direction.
'Error processing
Force Sense Function Screen 10-133
10 Application Examples
" changed to "-1".