-141-
(
→
Continuation of program example in Exercise 2-1 Following operation (follow the curved surface))
(// End of program example in Exercise 2-1 Following operation (follow the curved surface))
34 If MChk1=1 Then *Loop1_Fin
'Exit loop when Pnow2 is in the sphere
35 PNow=PNow2 'Change Pnow to Pnow2 (
←
Compare the one second-before position)
36 Dly 1
37 GoTo *Loop1
'Loop
38 *Loop1_Fin
39 Dly 1
40 Fsc Off
41 PTeach=P_Fbc 'Teach position where the force sensor indicated to PTeach
42 PNow2=PTeach
43 PNow2.Z=PStart.Z
44 Mvs PNow2
45 Mov PStart
46 Dly 0.5
47 Servo Off
48 Wait M_Svo=0
49 Hlt
50 End
51 '----- Home -----
52 *Home
53 PNow=P_Fbc
'Acquire current position
54 MChk=Zone2(PNow,PStart,PStart,0.5) 'Check whether the current position exists in 0.5 mm
diameter sphere
55 If MChk<>1 Then
'If not
56 PNow.Z=PStart.Z
'Adjust height
57 Mvs Pnow
'Move to position where only the height is adjusted with
the posture maintained
58 Mov PStart
'Move to PStart
59 EndIf
60 Return
Summary of Contents for MELFA BFP-A3614
Page 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
Page 2: ......
Page 34: ... 23 2 F series a CR750 D controller ...
Page 35: ... 24 b CR751 D controller ...
Page 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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