Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 199

 Example 4 〈Sample Program FB04.prg〉
The robot moves at the specified speed in the Z-direction to make contact with the target object. If the Z-axis
direction robot position and force sensor data satisfy the specified conditions following contact, the robot starts
moving in the Y-axis direction while pushing in the Z-axis direction.
M_FsCod0 = 0
P_FsMod0 = (0, 1, 1, 0, 0, 0)(0, 0)
'Control characteristics group ( 0 ) setting
P_FsFCd0 = (0, 0, 5, 0, 0, 0)(0, 0)
P_FsSpd0 = (0, 0, 10, 0, 0, 0)(0, 0)
P_FsSwF0 = (0, 0, 0.5, 0, 0, 0)(0, 0)
P_FsGn0 = (0, 0, 10, 0, 0, 0)(0, 0)
:
:
'Control characteristics group ( -1 ) setting
P_FsFCd1 = (0, 3, 5, 0, 0, 0, 0, 0)(0, 0) 'Specifies a force control of 3 N in the Y-axis direction, and the Z-axis direction is left at 5 N.
P_FsSpd1 = (0, 20, 0, 0, 0, 0, 0, 0)(0, 0) 'Specifies a speed of 20 mm/s in the Y-axis direction.
P_FsSwF1 = (0, 2, 0, 0, 0, 0, 0, 0)(0, 0) 'Specifies a switching judgment value of 2 N in the Y-axis direction.
P_FsGn1 = (0, 10, 10, 0, 0, 0)(0, 0)
:
:
Def MoTrg 1, (P_Fbc.Z < 100) And (P_FsCurD.Z > 4.8)
SetMoTrg 1
Fsc On, 0, 0, 1
Wait M_MoTrg(1) = 1
Dly 3
FsCTrg 1, 100, -1
:
:
Moves in Z-axis Switches to force control
direction at 10 mode following contact
mm/s. and pushes with 5 N.
' Specifies the tool coordinate system.
'Specifies a force control in the Y/Z-axis direction.
'Specifies a force control of 5 N in the Z-axis direction.
'Specifies a speed of 10 mm/s in the Z-axis direction.
'Specifies a switching judgment value of 0.5 N in the Z-axis direction.
Sets a force control gain of 10*10
'No movement is made in the Y-axis direction and so 0 is specified.
'Force control is maintained in the Z-axis direction and so 0 mm/s is specified.
'Sets a force control gain of 10*10
' (Moves the robot in the Y-axis direction.)
'Defines Mo trigger No.1.
'Enables Mo trigger No.1.
'Enables force control for control characteristics 0.
'Moves in the Z-direction until the trigger when contact made with the target
object turns ON.
'Waits for settling after contact.
'Mo trigger No.1 is ON and so the control characteristics changed to -1.
'Movement starts in the Y-axis direction while pushing with 5 N in the Z-axis direction.
Moves in Y-axis direction
at 20 mm/s while pushing
with 5 N.
-3 mm/N in the Z-axis direction.
-3 mm/N in the Y-axis direction.
11 Language Specifications
Examples 11-187