Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 81

Control characteristics Change 2 (Mo Trigger)
■ Operation details
The robot moves while following a guide gauge.
Movement is started in the +Y-direction at a speed of 10 mm/s while pushing in the –X direction with a

force of 5 N.
Contact with the +Y-direction wall surface is detected at position A, and robot movement changes to the

+X-direction at a speed of 10 mm/s while pushing in the +Y direction with a force of 5 N.
Movement stop when contact with the +X-direction wall surface is detected at position B.

■ Program example <Sample program F805.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+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 = (+1.00,+1.00,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 1
'[Control characteristics (0)]
P_FsGn0 = (+2.00,+2.00,+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 = (-5.00,+5.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+10.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+3.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'[Control characteristics (-1)]
P_FsGn1 = (+2.00,+2.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm1 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd1 = (+5.00,+5.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd1 = (+10.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF1 = (+3.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** <Force control-force direction change> ***
Def MoTrg 1, P_FsCurD.Y>4.5
Mvs PStart
Dly 1
Fsc On, 0, 0, 1
FsCTrg 1, 100, -1, 30, 0, 1
*LBL1: If P_FsCurD.X < 4.5 Then GoTo *LBL1
Fsc Off
End
Force sense coordinate
system (Cartesian)
+FY
+FZ
PStart
8 Using the Force Sense Function (Programming)
Cartesian coordinate system
+FX
+Z
+X
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force sense control mode (X, Y-axis force control)
'Force sense control coordinate system (XYZ)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Mo trigger 1 definition: Force sensor data Fy>4.5N
'Moves to start position.
'Wait until robot completely stopped.
'Force sense enable
'Specify control characteristics change with Mo trigger.
'Force sense disable
+Y
Position A
Position B
Force Sense Control 8-69