Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 68

8 Using the Force Sense Function (Programming)
Reaction
Low stiffness
(a)Stiffness control
8.1.2.7 Speed Command Value
Specifies the movement speed for force control (speed priority mode) when no contact is made with the target
object. Use if performing work while automatically switching between speed control and force control, or to
minimize impact by restricting the approach speed to the target object.
Set the switching condition for "speed priority mode" and "force priority mode" with the "Mode switching
judgment value". If the speed command value is 0.0, priority mode switching is not performed. Force priority
mode is always performed.
Speed constant
Speed priority mode
When 0.0 is set with the speed command value, the priority mode is not switched. The robot always operates in
the force priority mode.
8-56 Force Sense Control
force
Stiffness corfficient
Movement
distance
High stiffness
The priority mode is switched automatically based on the sensor
data value. (The threshold value is set with the "Mode switching
judgment value".)
Reaction
force
(b)Limited stiffness control
Force constant
Foce priority mode
Limit
Movement
distance