Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 78

8 Using the Force Sense Function (Programming)
Stiffness Control
■ Operation details
Controls the robot softly like a spring with respect to external force applied in the force sense coordinate system
(tool) ±FXt and ±FYt directions.
Stiffness control is specified only for the FXt and Fyt axes. (Position control is specified for all other axes.)

The robot moves in the direction in which external force is received only on the X and Y planes. The robot

moves to its original position when the external force is removed.
Force sense
control coordinate
system (tool)
+FYt
+FXt
■ Program example <Sample program F803.prg>
'[Control mode (0)]
P_FsStf0 = (+0.10,+0.10,+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 = (+2.00,+2.00,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
characteristics
'[Control
P_FsGn0 = (+20.00,+20.00,+0.00,+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,+0.00,+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)
'*** <Stiffness control (X, Y-axes)> ***
Servo On
Mov PStart
Dly 1
Fsc On, 0, 0, 1 'Force sense enable
Hlt
Fsc Off 'Force sense disable
End
■ Description
Sets the robot softness with the status variable P_FsStf0. The smaller the value, the softer (spring
1)
constant is small) the movement.
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 using the Fsc On command
to offset the sensor zero point.)
The robot is controlled softly while the operation is interrupted by the Hlt command. When the
3)
operation is resumed, force sense control is then disabled and normal control mode is applied.
8-66 Force Sense Control
+FZｔ
-FZt
Z-direction is controlled stiffly.
(position control)
(0)]
-FXt
By controlling softly like a
spring, the robot can be moved
freely on the X-Y plane based on
the external force.
-FYt
(stiffness control)
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X, Y-axis stiffness control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.