Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 146

10 Application Examples
 Description
The robot is set to control the X-, Y-, Z-, and C-axes softly with stiffness control. The force detection
1)
setting value is Mz = 0.05 N·m.
Force control is enabled, and the robot moves to a position approximately 1 mm below of the insertion
2)
start position. (MvsP1)
The C-axis is rotated with the Mvs command. If a moment of Mz ≥ 0.05 N·m is detected during
3)
operation using a Wthif sub-clause, operation is stopped and skip processing is performed at the next
step.
The gear is twisted in the C-axis direction while pushing in the Z-direction, and therefore when the
4)
D-cut gear and metal axis phases match, Mz increases. Wthif sub-clause conditions are established,
and therefore rotation is stopped and skip processing is performed for the next command. (If skip
processing is not performed, the system determines that phase detection has failed and error
processing is performed.)
Control characteristics "0" is changed to "-1" using the FsGChg command so that the Z-axis control
5)
gain becomes 0.0. (If the control gain is 0, the robot is not controlled softly even if stiffness control is
selected. Control will be the equivalent of position control.)
The robot moves 10 mm in the tool coordinate system Z-direction and assembly work is completed.
6)
10-134 Force Sense Function Screen