Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 67

8.1.2.5 Force Command Value
Sets the force command value for force control (force priority mode). When force control is enabled, the robot
moves so that the reaction force specified with the force command value can be obtained.
If no external force acts on the robot (if no contact is made), the robot moves in the force command value
direction and reaction force direction (direction in which the specified force is produced when contact is made.)
<Example> The movement when force control mode is specified only for the FZt direction and the force
command value is FZt = +5 N is as follows.
If contact made
(if external force acting)
If no contact made
(if no external force acting)
The movement speed when no external force is acting is dependent on the force sense control gain and force
command. (The greater the force sense control gain and force command, the faster the movement.) If
specifying the speed at this point, set the "Speed command value".
8.1.2.6 Limit value
Sets the limit value for the limited stiffness control. When an external force acts on the arm tip and the
displacement occurs between the teach position and actual position while the limited stiffness control is enabled,
the robot moves to a position at which the reaction force corresponding to the "displacement" and "stiffness
coefficient" can be obtained. In the normal stiffness control, when the stiffness coefficient or displacement is
increased, the reaction force becomes large. On the other hand, in the limited stiffness control, the force is
automatically controlled so that the reaction force does not exceed the specified limit value.
Since the limit is applied to the command value, as the value of the sensor may temporarity exceed the limit
value.
+FZt
+FYt
Table 8-7: Behavior corresponding to force command
Robot Behavior
The robot is moved while offsetting its position until FZt = 5 N.
The robot moves in the +Zt direction so that external force is produced in the
force command direction when contact is made.
The movement speed is proportional to the force sense control gain x force
command.
8 Using the Force Sense Function (Programming)
+FXt
+Yt
+Zt
+Xt
Force Sense Control 8-55