Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 220

14 Appendix
• Fsc ON command
• Enabling of force sense with T/B
Power ON
Force sense
control
disabled
• Fsc Off command
• Disabling of force sense with T/B
• End Command
• Program reset
• Force sense control related error
• Program selection possible
• Key switch change
• Fsc ON command
• Enabling of force sense with T/B
Power ON
Force sense
control
disabled
• Fsc Off command
• Disabling of force sense with T/B
• Enc Command
• Program reset
• Force sense control related error
Caution
Caution
Caution
14-208 Control Status Transition
[AUTOMATIC mode]
[Manual mode]
Stop input in the above diagram refers to a stop input from the operation panel,
teaching pendant, I/O, or RT ToolBox2.
However, stoppages with the Hlt command and stop inputs by releasing the key
during step or JOG operation are not included.
If a stop is input and the offset amount becomes fixed while pushing with force sense
controller the moment contact is made with the target object, error H.094n (servo
amplifier overload) or H.096n (servo amplifier error excessive) may occur. (n is axis
No.)
If the operation key switch is set to "MANUAL", robot movement by force sense
control will not stop even if a stop is entered. To stop robot movement by force sense
control, release the teaching pendant enable switch and turn OFF the servo power.
Force sense
control enabled
• Stop input/emergency stop input
• Error (H level/L level)
• Operation interrupted
Offsetting
• Start point input
• Step operation
• Jog operation
• Servo OFF
Processing
• Key switch change
Force sense
control enabled
• Servo OFF
Processing
Offsetting
stopped
• Servo ON
stopped
Offsetting
• Servo ON
stopped