Mitsubishi Electric MELFA BFP-A3614, Manual

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(9) Specifying the speed command value (P_FsSpd0/P_FsSpd1, FSSPD0#)
The speed when the force control is enabled can be specified for each axis in the force control
(speed priority mode).
Specify the operation speed when the robot is not contacting the target.
Use if performing work while automatically switching between speed control and force control, or
to minimize impact by limiting the approach speed to the target object.
Set the switching condition for "speed priority mode" and "force priority mode" with the "Mode
switching judgment value".
Refer to "
Chapter5 5.4 (10) Specifying the mode switching judgment value (P_FsSwf0/P_FsSwf1,
FSSWF0#) " in the next page.
* Adjust the speed command value from low-speed.
* When 0.0 is set with the speed command value, the priority mode is not switched. The robot
always operates in the force priority mode.
The priority mode is switched automatically based on the sensor data
value. (The threshold value is set with the "Mode switching judgment
value".)
Constant speed
Constant force
Force priority mode
Speed priority mode
P_FsSpd0 / P_FsSpd1 = (
△
,
△
,
△
,
△
,
△
,
△
,0,0)(0,0)
△
= 0.0 to 50.0
X, Y, Z · · · [mm / s]
A, B, C · · · [deg / s)]
P_FsSpd0 = (+0.00,+10.00,+0.00,+0.00,+0.00,+0.00)(0,0)
Set the speed of the speed control mode
Program example
Caution
The speed specified with the speed command value is the offset speed of the
force sense control. It is not the actual operation speed of the robot. When
the robot is not operating with the force sense control (operating with speed
compensation command or jog operation), and operating only in the speed
priority mode, "specified offset speed = robot operation speed".
When the compensation command and jog operation are executed with the
speed priority mode, "specified offset speed + specified speed of the jog
operation and offset = robot operation speed".