Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 150

11 Language Specifications
(15) The force sense control function and functions listed in Table 11-4 cannot be used at the same time.
Table 11-4 Behavior with simultaneous used with force sense control function
Function
Compliance control
(Cmp command)
Collision detection
(ColChk command)
Tool/base coordinate system
conversion
(Base/Tool command, etc.)
Jrc command
Continue function
* 1: An error occurs if collision detection is enabled with the ColChk command during automatic operation
and when the
force sense control function is enabled.
(16) If positioning complete is executed with the Fine J command (joint)/Fine P command (linear) while force
sense control is enabled, there may be times when the robot is unable to arrive at its target destination due
to the external force acting on the force sensor, preventing positioning from being completed. If executing
positioning complete, use the Fine command (pulse).
(17) If changing both the force sense control and tracking functions from an enabled status to disabled status
when performing automatic operation, first execute the Trk Off command to disable the tracking function,
and then disable force sense control with the Fsc Off command. If the Fsc Off command is executed first, an
L2750 error occurs.
(18) Even if force sense control is enabled, a user defined area and free plane limit check are performed by
referencing the position command. The force sense position command is not referenced.
11-138 Commands Relating to Force Sense Control Function
Behavior with Simultaneous Use
Priority is given to the function enabled first.
Priority is given to the force sense control function.
If force sense control function is enabled while collision
detection is enabled, collision detection is disabled. If force
sense control function is then disabled, collision detection
returns to the status specified at that time.
Tool/base conversion data is not changed while force
sense control is enabled.
The Jrc command cannot be executed while force sense
control is enabled.
The force sense control function is not compatible with the
continue function.
Error
L3986
L3986 *1
L3986
L3986
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