Usage Example (Force Sense Detection) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

Usage Example (Force Sense Detection)

8.2.5
Interrupt Processing (M_FsLmtS)
■ Operation details
Abnormal force is detected at times of collision and the robot comes to an emergency stop.
The force detection status is constantly monitored, and when contact is made, the robot is stopped swiftly

and interrupt processing is executed.
■ Program example <Sample program F806.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,+0.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
'[Control characteristics (0)]
P_FsGn0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+50.00,+50.00,+50.00,+0.50,+0.50,+0.50)(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)
'*** <Interrupt> ***
Def Act 1, M_FsLmtS=1 GoTo *XERR, F
Spd 10
Fsc On, 0, 0, 1
Act 1=1
Mvs P1
Fsc Off
End
*XERR
Act 1=0
Error 9100
End
■ Description
When the force/moment exceeds the force detection setting value specified with the status variable P_FsFLm0,
the status variable M_FsLmtS value changes from 0 to 1. By using this status variable M_FsLmtS as an
interrupt signal, error processing can be performed when unnecessary force acts on the workpiece or sensor,
and interrupt processing can be performed when a contact judgment/work failure occurs.
8-76 Force Sense Detection
Collision
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (All axis position 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.
'Force sense enable (offset cancel designation)
' Act 1 is enabled.
'
'Force sense disable
' Act 1 is disabled.
'Error occurrence