Mitsubishi Electric MELFA BFP-A3614, Manual

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Exercise 2-2 Program example
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1 '----------------------------------------------
2 ' Exercise 2)-2 Following operation
3 '----------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0 = (+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
'Stiffness coefficient [N/mm]
6 P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Damping coefficient
7 P_FsMod0 = (+0.00,+0.00,+1.00,+2.00,+0.00,+0.00)(0,0) 'Force control mode (XYZ-axis
enabled)
8 M_FsCod0 = 0 'Force sense control coordinate system (0/1: Tool/XYZ)
9 '[Control characteristics (0)]
10 P_FsGn0 = (+0.00,+0.00,+5.00,+20.00,+10.00,+10.00)(0,0)
'Force control gain [µm/N]
11 P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Force detection setting
value [N]
12 P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0) 'Force command
13 P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Set the speed of the speed
control mode
14 P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Set the force/speed judgment
value
15 Dim PP(13),PTRG(13)
16 '*** <Force control> ***
17 PStart=(+235.00,+0.00,+220.00,+180.00,+0.00,+180.00)(7,0)
18 '----- Move the robot to PStart position in advance!
19 Tool (+0.00,+0.00,+185.00,+0.00,+0.00,+0.00)
20 Loadset 1,1
21 OAdl On
22 Spd M_NSpd
'Set the speed to initial value. (*Valid only for CP control)
23 Ovrd M_Novrd 'Set the override to initial value.
24 Cnt 0 'Set the continuous operation for interpolation to initial value.
25 Servo On
26 Wait M_Svo=1
27 GoSub *Home
28 'GoTo *Mark
29 For M1=1 To 13
30 Mvs PP(M1)
31 Dly 0.5
32 Fsc On, 0, 0, 1
'Start force sense control
33 PNow=P_Fbc*(+0.00,+0.00,-185.00)