Mitsubishi Electric MELFA BFP-A3614, Manual

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Chapter 5 Force Sense Function (Programming)
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Force sense function list
This chapter describes the robot programming using the force sense function.
The force sense function consists of "force sense control", "force sense detection", and "force sense log"
functions.
Function Class Function Overview
Force
sense
control
Force control Controls push force.
Controls force and speed.
Stiffness control Controls flexibility.
Limited stiffness control Controls flexibility.
Limits the robot's force.
Control characteristics
change
Changes control characteristics during robot movement.
Changes control characteristics in the trigger conditions.
Gravity offset cancel Performs offset cancel in response to a change in the
direction of gravity applied to the force sensor by hand
load at the time of posture change.
Force
sense
detection
Interrupt execution Detects contact status and performs interrupt processing.
Defines interrupt conditions and uses the conditions in the
program.
Data latch / referencing Latches force sense data and uses the data in the
program.
Force
sense log
Log data acquisition Acquires time series data during work.
Log data display Displays log data in a graph.
Log data transfer Transfers log data to the FTP server.