Mitsubishi Electric MELFA BFP-A3614, Manual

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( → Continuation of (1) Part assembly work (force control))
 Description
1
）
With force control, the robot is set to push with a force of 0.0 N in the X- and Y-directions, and
5.0 N in the Z-direction. Furthermore, if the reaction force in the Z-direction is less than 4 N,
the robot moves at a speed of 10 mm/s in speed priority mode.
2
）
Work complete conditions are defined for Mo trigger 1 with the Def MoTrg command. (In this
example, when Z ≤ 151 mm and Fzt > 4.8 N, it is judged that insertion work is complete.)
3
）
After moving to the assembly start position, by enabling Mo trigger 1 followed by force sense
control, insertion work is started automatically.
4
）
If insertion work is not completed within 5 seconds of work starting, a 9100 error is output and
insertion work is stopped.
5
）
If insertion work is completed successfully, M_MoTrg(1)=1 and interrupt processing (label: *XOK) is
performed.
22 M_Timer(1)=0 'Timer clear
23 *LBL1:If M_Timer(1) < 5000 Then Goto *LBL1
24 Fsc Off
'Force sense control is disabled.
25 Error 9100 'Error occurs if insertion work not complete within 5 seconds.
26 End
27 '*** <Work completed> ***
28 *XOK
'Insertion work complete interrupt processing
29 Act 1=0
30 SetMoTrg 0
31 Fsc Off
'Force sense control is disabled.
32 HOpen 1
33 P2=P_Fbc
'Feedback position acquisition
34 P2.Z=P2.Z+100 'Target position determined as po100 mm in
Z-direction from current position.
35 Mvs P2
36 End