Examples - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11.9 Examples

Several force sense control program examples are shown below.
 Example 1 〈Sample Program FB01.prg〉
The robot searches for the target object while moving in the Y-axis direction. When the object is found, the robot
moves in the X-axis direction while applying a constant force in the target object Y-direction.
'Control mode ( 0 ) setting
P_FsStf0=(+0.00,+0.01,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0=(+0.00,+1.00,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0=1
'
characteristics
'Control ( 0 ) setting
P_FsGn0=(+0.00,+1.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0=(+20.00,+0.50,+20.00,+5.00,+5.00,+5.00)(0,0)
P_FsFCd0=(+0.00,+2.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'
Def Act 1,M_FsLmtS=1 GoTo *XMOV,S 'Defines so that interrupt processing performed if force detection setting value exceeded.
FsLog On
Fsc On,0,0,1
P1=P_Curr
P1.Y=P1.Y+200
Spd 5
Act 1=1
Mvs P1 'Performs interrupt processing if contact with the target object is made during movement.
Fsc Off 'Disables force sense control.
FsLog Off,7 'Ends force sense log collection and creates log file No.7.
Act 1=0
End
'
'Interrupt processing
*XMOV
P2=P_FsCurPr
P2.X=P2.X+100 'Sets position +100 mm in X-axis direction from current position as target position.
FsGChg 5,100,2 'Changes the gain to the control characteristics 2 (parameter) setting value over 100 ms from the interpolation progress
'rate 5% position.
Mvs P2 'Moves in the X-axis direction while applying 2.0 [N] of force in the Y-axis direction.
Fsc Off 'Disables force sense control.
FsLog Off,7 ' Ends force sense log collection and creates log file No.7.
FsOutLog 7 'Transfers log file No.7 to the computer by FTP.
End
Moves while pushing with 2 N.
'Starts collecting force sense log.
'Enables force sense control with control mode=0, control characteristics =0, and offset cancel enabled.
Detects target object.
'Stiffness coefficient (Specifies Y-axis component as 0.01 [N/mm])
'Damping coefficient (no specification)
'Force sense control type (Specifies force control in Y-axis direction.)
'Force sense coordinate system (Specifies XYZ coordinate system.)
'Gain (Specifies Y-direction as 1.0 [10
'Force detection setting value (Specifies Y-axis direction as 0.5 [N].)
'Force control (Specifies Y-axis direction as 2.0 [N].)
11 Language Specifications
-3 mm/N].)
Examples 11-183