Force Sense Function System Specifications; What Is The Force Sense Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

3 Force Sense Function System Specifications

3 Force Sense Function System Specifications

3.1 What is the Force Sense Function?

The "force sense function" uses force sensor information with 6 degrees of freedom to provide the robot with a
sense of its own force. Using dedicated commands and status variables compatible with the robot program
language (MELFA-BASIC V) facilitates work requiring minute power adjustments and power detection that was
not possible on past robots.
<Main features>
(1) Robots can be controlled softly and operated while copying applicable workpieces.
(2) Robots can be operated while pushing in the desired direction with a fixed amount of force.
(3) Robot softness and contact detection conditions can be changed during movement.
(4) Contact status can be detected and interrupt processing performed.
(5) Position information and force information at the time of contact can be performed.
(6) Force data synchronized with position data can be saved as log data.
(7) Log data can be displayed in a graph using RT ToolBox2.
(8) Log data files can be transferred to an FTP server.
3-6 What is the Force Sense Function?