Appendix; Control Status Transition - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

14 Appendix

14.1 Control Status Transition

Force sense control has the following 4 statuses.
Status
Force sense This is the force sense control disabled status. This is the status when the power is turned
status disabled ON.
In this status, force sense control is enabled and the robot position is being offset based on
Offsetting
the "control mode" and "control characteristics " settings.
Force sense control is enabled; however, robot position offset processing has been stopped
Offsetting
with a stop input or due to an error. (This status is possible only when the key switch is set to
stopped
"AUTOMATIC".)
Processing Force sense control is enabled; however, as the servo power is OFF, robot position offset
stopped processing is not being performed.
The transition for each status by executing dedicated commands or by turning the servo ON and OFF is as
follows.
Description
Control Status Transition 14-207
14 Appendix