Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 75

Force Control 1
■ Operation details
The robot is pushed in the Z-direction with a force of 10 N.
Force control is started from the PStart position.

The robot is moved in the force sense control coordinate system (tool) +FZt direction until a reaction force

of 10 N can be obtained.
■ Program example <Sample program F801.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+0.00,+0.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+0.00,+0.00,+30.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Force control (Z-axis)> ***
Servo On
Mov PStart
Dly 1
Fsc On,0,0,1
Dly 10
Fsc Off
End
■ Description
The "control mode" and "control characteristics " are set at the beginning of the program. (In this
1)
example they are set with status variables, however, they can also be set with parameters.)
Force sense control is started with the Fsc On command based on the conditions set for "Control
2)
mode (0)" and "Control characteristics (0)". "Offset cancel" is performed to offset the sensor zero point.
* Adjust the force control gain based on the target object. The higher the setting, the higher the response
sensitivity to the force command value, however, increasing the value too much may result in vibrations. (See
section 8.1.2.9 .)
PStart
(0)]
8 Using the Force Sense Function (Programming)
Force sense control
coordinate system
(tool)
FZt
FYt
FXt
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force sense control mode (Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]  Adjustment required
'Force detection setting value [N]
'Force command (10 N in FZt direction)
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Move to start point.
'Force sense control enabled (drop start with force control)
10 N
No setting required

Force Sense Control 8-63