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Chapter 5 Force Sense Function (Programming)
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.
Summary of Contents for MELFA BFP-A3614
Page 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
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