Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 69

Caution
8.1.2.8 Mode Switching Judgment Value
Sets the threshold used for switching between "speed priority mode" and "force priority mode" when the speed
command value is set for force sense control (force control).
The speed priority mode and force priority mode switch as follows based on the force command value and
switching judgment value, and force sensor data magnitude correlation.
Data Magnitude Correlation
Force Command Value and
Switching Judgment Value
Force command value >
switching judgment value
Force command value <
switching judgment value
Force command value =
switching judgment value
The speed specified with the speed command value is the force sense control offset
speed, and not the actual robot movement speed. If the robot is not moving in other
than in force sense control, such as when performing interpolation commands or JOG
operation, but moving only in speed priority mode, the "specified offset speed = robot
movement speed".
If interpolation commands or JOG operation are being performed in speed priority
mode, the "(specified offset speed + speed specified for interpolation, JOG operation)
= robot movement speed".
Table 8-8 Priority mode switching
Sensor Data and Switching
Judgment Value
switching
Sensor data ≥
judgment value
switching
Sensor data <
judgment value
switching
Sensor data ≤
judgment value
switching
Sensor data >
judgment value
-
8 Using the Force Sense Function (Programming)
Priority Applicable Area for Each Priority
Mode
力覚センサ
Force sensor data
データ
Force
priority
Force
mode
command 力指令値
value
切り替え
Switching
Speed 判定値
judgment
priority
value
mode
力覚センサ
Force sensor data
データ
Force
priority
Switching
mode
judgment
切り替え
判定値
value
Speed
Force
priority
command
力指令値
mode
value
力覚センサ
Force sensor data
データ
Force
Force
command
value
priority
力指令値
mode
切り替え
Switching
判定値
judgment
value
Mode
Force control
mode
力制御モード
Speed control
mode
速度制御モード
Speed control
速度制御モード
mode
Force control
mode 力制御モード
Force control
力制御モード
mode
Force Sense Control 8-57