Table Of Contents - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

1 Using This Manual .................................................................................................................................. 1-1
1.1 Using This Manual ..................................................................................................................................... 1-1
1.2 Terminology Used in This Instruction Manual ............................................................................................ 1-2
1.3 Select the Force Sensor ............................................................................................................................ 1-3
2 Work Flow .............................................................................................................................................. 2-5
2.1 Flowchart .................................................................................................................................................... 2-5
3 Force Sense Function System Specifications ......................................................................................... 3-6
3.1 What is the Force Sense Function? ........................................................................................................... 3-6
3.2 System Configuration ................................................................................................................................. 3-7
3.3 Force Sense Function Specifications ......................................................................................................... 3-8
3.4 Force Sense Interface Unit Specifications ............................................................................................... 3-10
3.4.1 Force Sense Interface Unit External Dimensions .............................................................................. 3-10
3.4.2 Name of Each Force Sense Interface Unit Part .................................................................................. 3-11
3.4.3 Force Sensor Connection Cable ......................................................................................................... 3-11
3.5 24 VDC Power Supply Specifications ...................................................................................................... 3-12
3.5.1 24 VDC Power Supply Outline Drawing ............................................................................................. 3-12
3.5.2 24 VDC Output Cable ......................................................................................................................... 3-13
3.5.3 24 VDC Input Cable ............................................................................................................................ 3-13
3.6 Force Sensor Specifications .................................................................................................................... 3-14
3.6.1 Force Sensor External Dimensions .................................................................................................... 3-15
3.6.2 Sensor Attachment Adapter External Dimensions ............................................................................. 3-16
3.7 Coordinate System Definition .................................................................................................................. 3-18
3.7.1 Force Sense Coordinate System (Mechanical Interface) ................................................................... 3-19
3.7.2 Force Sense Coordinate System (Tool) ............................................................................................. 3-19
3.7.3 Force Sense Coordinate System (XYZ) ............................................................................................. 3-20
3.7.4 Force Sensor Coordinate System ...................................................................................................... 3-21
4 Check Before Use ................................................................................................................................ 4-22
4.1 Product Check .......................................................................................................................................... 4-22
4.1.1 Force Sensor Set 4F-FS001-W200 .................................................................................................... 4-22
4.1.2 Force Sensor Set 4F-FS001-W1000 .................................................................................................. 4-23
4.2 Software Versions .................................................................................................................................... 4-24
5 Attaching the Force Sensor .................................................................................................................. 5-25
5.1 Attachment Adapter .................................................................................................................................. 5-25
5.2 Sensor Installation .................................................................................................................................... 5-25
5.3 Recommended Attachment Angle ............................................................................................................ 5-26
5.4 Securing the force sensor cable .............................................................................................................. 5-27
5.5 Tool installation ......................................................................................................................................... 5-28
6 Device Connection, Wiring, and Settings ............................................................................................. 6-29
6.1 Force Sense Unit ↔ Robot Controller ..................................................................................................... 6-29
6.2 Force Sense Interface Unit ↔ Force Sensor ........................................................................................... 6-32
6.3 Turning ON the Power ............................................................................................................................. 6-34
6.4 Warm Up Operation ................................................................................................................................. 6-34
6.5 Default Parameter Settings ...................................................................................................................... 6-35
6.5.1 Force Sense Interface Unit identification ............................................................................................ 6-36
6.5.2 Calibration .......................................................................................................................................... 6-37
6.5.3 Force Sensor Tolerance ..................................................................................................................... 6-40
6.5.4 Force Sensor Control Offset Limit ...................................................................................................... 6-41
6.5.5 Force Sensor Data Filter Setting ........................................................................................................ 6-41
6.5.6 Force Sensor Minimum Control Force ............................................................................................... 6-41
7 Checking the Connection and Settings ................................................................................................ 7-42
7.1 Checking Force Sensor Data Communication ......................................................................................... 7-42
7.1.1 If Using R56TB/R57TB ....................................................................................................................... 7-42
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