Mitsubishi Electric MELFA BFP-A3614, Manual

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Practice 3: Specifying the force command value and the damping coefficient
PStart
Use the damping coefficient when the robot vibrates even the gain or force command value is
adjusted in any method.
Understand the effect of the damping coefficient through this practice.
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Key learning points
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In this practice, the robot is vibrated on purpose to understand the effect of the
damping coefficient.
Normally, the damping coefficient is used when the robot does not stop vibrating
even the gain is adjusted.
Caution
1) Execute program "3" to check the movement.
2) Create program "3" 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.
(* Teach the scale plate center position over the contact position again.)
5) Turn OFF the enable switch of the T/B, switch to "Automatic" with the mode selection switch,
and lower OVRD to 10%. Then execute the automatic operation.
6) The robot stops for 10 seconds when the scale points at approximately 0.5 kg. Wait for the
robot moving above and the servo turning OFF
。
9) Input "0.05" to the Z-axis component in the 6th line P_FsDmp0 =
(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00) in the program. Then execute the automatic
operation again.
10) Check that the scale pointer settles at 0.5 kg.
7) Open program "3", and adjust P_FsFCd0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00) in the 10th
line, and change the Z-axis gain from "5" to between "40" and "50". Then execute the
automatic operation again.
8) Check that the needle of the scale points at 0.5 kg unstably.
(If it is stable, adjust the gain within the range in which an error occurs.)