Mitsubishi Electric MELFA BFP-A3614, Manual

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Appendix 6 Reference Case
Appendix 6.1Program Example
(1) Part Assembly Work (Force Control)
 Operation details
Assembles parts so that no unnecessary force acts on the parts when following the part fitting shape.

The robot is controlled using force control so that the force acting in the X- and Y- directions is 0.0 N.

The work complete condition is defined in the Mo trigger, and work is completed by interrupt
processing.
 Program example
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1 '-----------------------------------------------------------
2 ' Appendix 6 Reference Case (1) Part assembly work (force control)
3 '-----------------------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0=(+0.00,+0.00,+0.00,+0.00,+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=(+1.00,+1.00,+1.00,+0.00,+0.00,+0.00)(0,0) 'Force control mode (X,Y,Z-axis force control)
8 M_FsCod0=0 'Force sense control coordinate system (tool)
9 '[Control Feature (0)]
10 P_FsGn0 =(+3.00,+3.00,+3.00,+0.00,+0.00,+0.00)(0,0)
'Force control gain [ μ m/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,+5.00,+0.00,+0.00,+0.00)(0,0) 'Force control (X,Y-axis: 0.0 N, Z-axis: 5.0 N)
13 P_FsSpd0=(+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0) 'Sets speed control mode speed. (Z-axis: 10 mm/s)
14 P_FsSwF0=(+0.00,+0.00,+4.00,+0.00,+0.00,+0.00)(0,0) 'Sets force/speed judgment value.
15 '*** <Assembly work> ***
16 Def MoTrg 1, ((P_Fbc.Z <= 151) AND (P_FsCurD.Z > 4.8)) 'Work complete conditions defined for Mo trigger 1.
17 Def Act 1,M_MoTrg(1)=1 GoTo *XOK,F
'Mo trigger 1 defined as interrupt condition.
18 Mvs PStart 'The robot moves to just above the insertion position.
19 SetMoTrg 1 'Enables Mo trigger #1.
20 Fsc On, 0, 0, 1
'Force sense control is enabled. (Insertion started with
force control.)
21 Act 1=1 'Interrupt processing 1 is enabled.