Using The Force Sense Function (Programming); Using The Force Sense - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

This Chapter describes robot programming using the force sense function.
The force sense function consists of "force sense control", "force sense detection", and "force sense log"
functions. Refer to the section numbers and pages under "Reference" in the following table for a "description"
and "sample program" for each function.
Table 8-1: Force sense function usage method reference list (programming)
Function Class
Force control
Stiffness control
Force
Limited stiffness control
sense
control
Control characteristics
change
Interrupt execution
Force
sense
detection
Data latch / referencing
Log data acquisition
Force
Log data display
sense log
Log data transfer
Gravity offset cancel
Function Overview
Controls push force.
Controls force and speed.
Controls softness.
Controls softness.
Restricts the robot's force.
Changes control characteristics during robot
movement.
Changes control characteristics in the trigger
conditions.
Detects contact status and performs
interrupt processing.
Defines interrupt conditions and uses the
conditions in the program.
Latches forse sense data and uses the data
in the program.
Acquires time series data during work.
Displays log data in a graph.
Transfers log data to the FTP server.
This function is 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.
Checking the Force Sensor Attachment Coordinate System 8-45
8 Using the Force Sense Function (Programming)
Description
Section
Section
Section
Section
Reference
Sample
Page 8-63
Page 8-64
Page 8-66
8.1
Page 8-67
Page 8-69
Page 8-76
Page 8-77
8.2
Page 8-79
Page 8-91
8.3
Page 8-93
Page 8-94
8.4