Mitsubishi Electric MELFA BFP-A3614, Manual

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Program "7"
1 '----------------------------------------------
2 ' Practice 7 Force log
3 '----------------------------------------------
4 '[Control mode (0)]
5 P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'Stiffness coefficient [N/mm]
6 P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Damping coefficient
7 P_FsMod0 = (+1.00,+1.00,+1.00,+0.00,+0.00,+0.00)(0,0) 'Force control mode (XYZ-axis
enabled)
8 M_FsCod0 = 0 'Force sense control coordinate system (tool)
9 '[Control characteristics (0)]
10 P_FsGn0 = (+5.00,+5.00,+5.00,+0.00,+0.00,+0.00)(0,0)
'Force control gain [ μ m/N]
11 P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Force detection setting value [N]
12 P_FsFCd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Force command
13 P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Set speed control mode speed.
14 P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 'Set force/speed judgment value.
15 '*** <Control> ***
16 Tool (+0.00,+0.00,+185.00,+0.00,+0.00,+0.00)
17 GoSub *INIT
18 *Main
19 FsLog On
20 Fsc On,0,0,1
'Start force sense control
21 Dly 15
22 Fsc Off
23 FsLog Off,999
24 Hlt
25 End
26 '----- Subroute -----
27 *INIT
28 P_FsBias0=P_Zero
'Bias value with control mode 0
29 P_FsGrPos0=P_Zero 'Center of gravity position of hand tip with control mode 0
30 M_FsMass0=0
'Hand tip weight with control mode 0
31 Loadset 1,1
32 OAdl On
33 Servo On
34 Wait M_Svo=1
35 Return
36 '--------------------