Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 90

8 Using the Force Sense Function (Programming)
Mvs P2
End
■ Description
Work complete conditions are defined for Mo trigger 1 with the Def MoTrg command.
1)
Force sense control is enabled after enabling Mo trigger 1, and insertion work is started.
2)
If insertion work is not complete within 5 seconds of work starting, a 9100 error is output, and insertion
3)
work is stopped.
If insertion work is successfully completed, M_MoTrg(1)=1, and interrupt processing (label: *XOK) is
4)
performed.
8-78 Force Sense Detection
from current position