Force Sense Function Specifications - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

3 Force Sense Function System Specifications

3.3 Force Sense Function Specifications

The force sense function specifications are as follows.
Item
Applicable robot
Robot program language
Force Stiffness control
sense
control Limited stiffness
control
Force control
Control
characteristics
change
Force Interrupt
sense execution
detection
Data latch
Data referencing
Force Synchronization
sense data
log
Start/end triggers
FTP transfer
Gravity offset cancel
R32TB/R33TB Force sense
control (TB)
Force sense
monitor
Teaching position
search
R56TB/R57TB Force sense
control (TB)
Force sense
monitor
Teaching position
search
Parameter setting
screen
3-8 Force Sense Function Specifications
Table 3-1: Force sense function specifications
RV-F Series / RH-F Series
MELFA-BASIC V (with dedicated force sense
function commands)
Function used to control robot softly (Sets
stiffness coefficients, damping coefficients.)
Function used to control robot softly (Sets
stiffness coefficients, damping coefficients.)
This function can restrict the force of the robot.
This function controls the robot while pushing
with specified force.
This function changes the control characteristics
of force control and stiffness control during robot
movement.
Interrupt processing can be performed using the
status at the point the specified force and
moment are exceeded.
This function obtains the force sensor and robot
position at the time of contact.
This function displays force sensor data and
retains maximum values.
This function obtains force sensor information
synchronized with position information as log
data.
Logging start and end commands can be
specified in the robot program.
This function transfers obtained log files to an
FTP server.
Gravity offset cancel is a function that the offset
cancel in response to a change in the direction of
gravity applied to the force sensor by hand load
at the time of posture change.To use this
function, it is necessary to estimate the bias value
of the force sensor, position of the senter of
gravity and the mass of hand load by the force
calibration.
Enables/disables force sensor control and sets
control conditions while jogging.
Displays sensor data and the force sense control
setting status.
This function searches for the contact position.
Enables/disables force sense control and sets
control conditions while jogging.
Displays sensor data and the force sense control
setting status.
This function searches for the contact position.
Dedicated force sense function parameter setting
screen
Function Details Remarks
(*1)
This function can be
used with controller
version R6h/S6h or
lator.
This function can be
used with controller
version R6h/S6h or
lator.
Corresponding robot
of this function has
become RV-F series.