Mitsubishi Electric MELFA BFP-A3614, Manual

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Introduction
1. What is the Force Sense Function?
The force sense function uses force sensor information
with 6 degrees of freedom to provide the robot with a
sense of its own force.
Using dedicated commands and status variables
compatible with the robot program language
(MELFA-BASIC) facilitates work requiring micro force
adjustments and power detection.
The force sense function acquires the position information
and force information to verify and manage the data.
2. Features of the force sense function
(1) Robots can be controlled with flexibility and operated while following the target workpieces.
(2) Robots can be operated while pushing in the desired direction with a fixed amount of force.
(3) Robot flexibility and contact detection conditions can be changed during movement.
(4) Contact status can be detected and interrupt processing performed.
(5) Position information and force information at the time of contact can be performed.
(6) Force data synchronized with position data can be saved as log data.
(7) Log data can be displayed in a graph using RT ToolBox3.
(8) Log data files can be transferred to an FTP server.
3. Main applications
·
Assembling and fitting with a fixed amount of force to a desired direction
·
Inspection by the detection of force variation during and after assembly
·
Transporting and others
Force sensor
Fitting and inspection Assembly and fitting Force inspection and assembly