Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 70 / 212

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Practice 2: Specifying the stiffness coefficient
1) Execute program "2" to check the movement.
2) Create program "2" with RT ToolBox3 and write it to the robot.
3) When the writing is completed, close the program. Open the program again, and check that the
8th line is "M_FsCod0=0" (tool coordinate system).
4) Operate the robot by the JOG operation and move it to the PStart position.
5) Turn OFF the enable switch of the T/B, and switch to "Automatic" with the mode selection
switch, and lower OVRD to 10%. Then execute the automatic operation.
6) The force sensor is enabled for 60 seconds in the program. When the force is applied in any
direction to the tip of the hand, check that the robot returns to the original position when the
hand is released.
7) When the servo of the robot is turned OFF, change the XYZ component of "P_FsStf0" in the
5th line of program "2" from "0.1" to "0.5" with RT ToolBox3 again, and save it. Then execute
the automatic operation.
8) As step 6), check the difference of stiffness when the force is applied to the tip of the robot, and
the difference of the movement when the hand is released from the robot.
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Key learning points
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Understand how the stiffness control performs compared to the force control in Practice 1).
Understand how the characteristics changes by changing the stiffness control.
Check the stiffness when the force is applied from any
direction and the reaction force when the hand is
released.
Check the changes such as stiffness by changing the
stiffness coefficient value.