Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 197

 Example 3 〈Sample Program FB03.prg〉
Searches for open holes on the XY plane. If a hole is found, the XY coordinates for the holes center position are
calculated.
'Control mode ( 0 ) setting
P_FsStf0=(+0.00,+0.00,+1.00,+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,+0.00,+2.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0=1
'
'Control characteristics ( 0 ) setting
P_FsGn0=(+0.00,+0.00,+40.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0=(+20.00,+20.00,+5.00,+5.00,+5.00,+5.00)(0,0)
P_FsFCd0=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'
Def Act 1,P_FsLmtR.Z=1 GoTo *PCEN,S
P2=P1
P2.X=P2.X+100
Fsc On,0,0,1
Mvs P1
'
Spd 5
Act 1=1
For M1=1 To 10
Mvs P1
Mvs P2
P1.Y=P1.Y+5
P2.Y=P1.Y
Mvs P2
Mvs P1
P1.Y=P1.Y+5
P2.Y=P1.Y
Next M1
Act 1=0
Fsc Off
End
'
'Interrupt processing
*PCEN
Dim PX(2),PY(2)
P0=P_Curr
'Searches for width of 100 mm in X-direction.
'Enables force sense control with control mode=0, control characteristics =0, and offset cancel enabled.
'Moves to search start position (Moves approximately -10 mm in the Z-axis direction from the search plane to
a low position, and then pushes in the Z-direction.)
'Searches in 5 mm intervals in the Y-direction. Force is lost in the Z-axis direction if the robot axis drops into
a hole, and therefore an interrupt is entered.
'The position at which the robot axis falls into the hole and stops is used as a reference.
Robot moves in XY-direction and
calculates center position from contact
position.
Searches for
open holes
'Stiffness coefficient (Specifies Z-axis component as 1 [N/mm].)
'Damping coefficient (no specification)
'Force sense control type (Specifies stiffness control in Z-axis direction.)
'Force sense coordinate system (Specifies XYZ coordinate system.)
'Gain (Specifies Z-axis direction as 40 [10
'Force detection setting value (Specifies Z-axis direction as 5 [N].)
'Force control (no specification)
'Defines so that interrupt processing is performed if the Z-axis direction
becomes smaller than force detection setting value.
11 Language Specifications
-3 mm/N].)
Examples 11-185