Mitsubishi Electric MELFA BFP-A3614 Manuals

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Mitsubishi Electric MELFA BFP-A3614 Manual (212 pages)

Robot Seminar Textbook

Brand: Mitsubishi Electric | Category: Robotics | Size: 9.69 MB

Table of Contents
9
Introduction
12
Chapter 1 Force Sensor Specifications and Configuration

14
Chapter 2 Attaching the Force Sensor

26
Chapter 3 Device Connection and Wiring

32
- Force Sense Interface Unit ⇔ Robot Controller
  32
  - Series
    32
  - F Series
    34
- Force Sense Interface Unit ⇔ Force Sensor
  37
- Power ON/OFF
  37
  - When Turning the Power on
    37
  - When Turning the Power off
    37
Chapter 4 Parameter Setting

38
Chapter 5 Force Sense Function (Programming)

54
Chapter 6 Force Log

96
- Force Log Parameters
  96
- Force Log Data Acquisition (Fslog On/Fslog Off)
  97
  - Practice 7: Force Log
    98
- Force Sense Log Data Display (RT Toolbox3)
  100
  - Start Method
    100
  - Main Window
    100
- Force Log File FTP Transfer
  101
- Oscillograph (RT Toolbox3)
  102
Chapter 7 Teaching Operation

104
Chapter 8 Force Sense Function (Interrupt Processing)

114
- Control Mode/Control Characteristics
  114
  - Control Characteristics Change Commands (Fsgchg/Fsctrg)
    114
- Practice
  116
  - Practice 11: Changing the Control Characteristics
    116
  - Practice 12: Changing the Control Characteristics
    120
Chapter 9 Force Sense Detection

124
- Force Sense Detection
  124
- Mo Trigger (Defmotrg, Setmotrg, M_Motrg)
  125
- Force Detection Status (M_Fslmts, P_Fslmtr)
  126
- Data Latch (P_Fslmtx/P_Fslmtp/P_Fslmtd)
  127
- Data Verification (P_Fsmaxd / P_Fscurd)
  128
- Practice
  130
  - Practice 13: Interrupt Processing
    130
Chapter10 Exercise

134
Appendix 1 Connecting the Force Sensor

164
- Appendix 1.1 Connecting the Force Sensor and the Force Sense Interface Unit
  
  164
Appendix 2 Coordinate System Definition

166
Appendix 3 Contact Detection

168
Appendix 4 Operation of the Teaching Box (R56TB)

172
- Appendix 4.1 Editing Parameter
  
  172
- Appendix 4.2 Force Control Operation
  
  173
  - Checking the Force Sensor Data Communication
    173
  - Offset Cancel Operation
    174
  - Selecting the Control Mode/Control Characteristics
    175
  - Force Sense Control Enable/Disable Selection
    175
  - Force Sense Monitor
    176
  - Position Search
    176
  - Contact Detection
    177
Appendix 5 Force Sense Log File

178
- Appendix 5.1 Force Sense Log File FTP Transfer
  
  178
  - FTP Parameter
    178
  - FTP Connection/Setting
    179
- Appendix 5.2 RT Toolbox3 Creating a Project for the Oscillograph
  
  180
Appendix 6 Reference Case

184
- Appendix 6.1Program Example
  
  184
  - Part Assembly Work (Force Control)
    184
  - Phase Focusing Push
    186
  - Coordinate Calculation
    188
Appendix 7 Parameter

192
- Appendix 7.1 Setting Parameters and Status Variables for Force Sense Control Conditions
  
  192
Appendix 8 Troubleshooting

198

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Mitsubishi Electric MELFA BFP-A3614 Manuals

Mitsubishi Electric MELFA BFP-A3614 Manual (212 pages)

Table of Contents

Chapter 1 Force Sensor Specifications and Configuration

Chapter 2 Attaching the Force Sensor

Chapter 3 Device Connection and Wiring

Chapter 4 Parameter Setting

Chapter 5 Force Sense Function (Programming)

Chapter 6 Force Log

Chapter 7 Teaching Operation

Chapter 8 Force Sense Function (Interrupt Processing)

Chapter 9 Force Sense Detection

Chapter10 Exercise

Appendix 1 Connecting the Force Sensor

Appendix 1.1 Connecting the Force Sensor and the Force Sense Interface Unit

Appendix 2 Coordinate System Definition

Appendix 2.1 Force Sense Coordinate System (Mechanical Interface)

Appendix 2.2 Force Sense Coordinate System (Tool)

Appendix 2.3 Force Sense Coordinate System (XYZ)

Appendix 3 Contact Detection

Appendix 4 Operation of the Teaching Box (R56TB)

Appendix 4.1 Editing Parameter

Appendix 4.2 Force Control Operation

Appendix 5 Force Sense Log File

Appendix 5.1 Force Sense Log File FTP Transfer

Appendix 5.2 RT Toolbox3 Creating a Project for the Oscillograph

Appendix 6 Reference Case

Appendix 6.1Program Example

Appendix 7 Parameter

Appendix 7.1 Setting Parameters and Status Variables for Force Sense Control Conditions

Appendix 8 Troubleshooting

Appendix 8.1 Behaviour When Force Sense Control Errors Occur

Appendix 8.2 Force Sense Function Related Error List

Appendix 8.3 Force Sense Function Related Error Details

Appendix 8.4 Force Sense Interface Unit Errors

Appendix 8.5 Q&A

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