Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 59

 Singular point adjacent operation restrictions 
Singular point adjacent operation cannot be performed while force sense control is enabled,
注意
regardless of interpolation or JOG operation. If the robot approaches a point adjacent to a singular
point during operation, an error (L3986) occurs. Use force sense control at a position that will avoid a
singular point adjacent condition.
If necessary to move the robot adjacent to a singular point, or if wishing to pass through the singular
point using the singular point pass function, disable the force sense function.
Caution
Caution
Caution
Caution
By enabling force sense control, the robot moves automatically based on the external force
acting on the sensor. Even if it seems that the robot has stopped at first glance, it may be
moving at a very slow speed, and therefore attention should be paid to robot behavior while
this function is enabled.
Even if program operation is interrupted with an HLT command while force sense control is
enabled, the force sense control enabled status is maintained, and therefore the robot may
move. To stop the robot, it is necessary to perform the stop entry operation or disable force
sense control.
Always check "Chapter 5 before enabling force sense control. If there is a mistake with the
connection or settings, the robot may move in an unintended direction.
If resuming operation after an emergency stop condition or after interrupting program
operation, a command to return the robot from its stationary position to the position when the
program was interrupted is generated automatically. When force sense control is enabled, the
difference between the position at which the program was interrupted and the actual stoppage
position will be greater than that when force sense control is disabled, and therefore the robot
may move significantly when operation is resumed.
* It is also possible to stop generation of the command to return the robot from to the position
when the program was interrupted by changing the parameter RETPATH (setting for auto
recovery after JOG feed when program interrupted), setting to "0". Refer to "Setting for Auto
Recovery After JOG Feed when Program Interrupted" in instruction manual "Detailed
Explanations of Functions and Operations" for details on the parameter RETPATH.
8 Using the Force Sense Function (Programming)
Force Sense Control 8-47