Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 80 / 212

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Practice 4: Specifying the speed command value and mode switching judgment value
1) Execute program "4" 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 position 40 mm or more above the scale plate center 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.
* It will take a lot of time to push the scale.
6) When the program has stopped, open the program again with RT3, and input "+20" to the Z
component of P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) in the 13th line.
Then, write "+0.5" to the Z component of P_FsSwF0 =
(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0, 0) in 14th line, and write it to the robot controller.
Understand the speed priority mode and force priority mode using the mode switching judgment
value.
Experience shorter operation time by combining the speed priority mode and force priority mode
compared to the operation only in the force priority mode.
When the speed priority mode is used, the detection of the judgment value delays as the speed
increases, and the force more than the speed command value may be applied to the target
workpiece.
Therefore, an appropriate value needs to be set by checking the target workpiece and working
details carefully.
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Key learning points
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PStart