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Continuation of program example in Exercise 1-2 Perform phase focusing for the gear at hand
insertion, and pulling out operation)
(Continue to the next page
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)
71 *ISOU_Loop
72 Def Act 1,P_Fbc.Z < MCHK GoTo *ISOU_Fin1
73 Fsc On, 0, 0, 0 'Start force sense control
74 Act 1=1
75 Dly 30
76 Act 1=0
77 Fsc Off
78 Dly 0.1
79 PTRG=P_Fbc
80 Dly 0.1
81 Mvs PTRG+(+0.00,+0.00,+30.00)
82 Mvs PB+(+0.00,+0.00,+30.00)
83 Dly 0.1
84 Mvs PB+(+0.00,+0.00,+2.00)
85 Dly 0.2
86 GoTo *ISOU_Loop
87 *ISOU_Fin1
88 Act 1=0
89 Fsc Off
90 Dly 0.1
91 P_FsMod0 = (+1.00,+1.00,+1.00,+2.00,+2.00,+2.00)(0,0) 'Force control mode (XYZ-axis
enabled)
92 P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0) 'Force command
93 Dly 0.1
94 PB=P_Fbc
95 Mvs PB
96 Dly 0.1
97 Fsc On,0,0,0
98 *Loop7
99 Dly 0.1
100 If P_Fbc.Z > 2 Then *Loop7
101 Dly 1
102 Fsc Off
103 Dly 0.1
Содержание MELFA BFP-A3614
Страница 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
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Страница 8: ... Revision History Print Date Instruction Manual No Revision content 2018 07 31 BFP A3614 First print ...
Страница 33: ... 22 b CR800 R controller CN1 connector CR800 R controller front To OPT1 connector CPU module SSCNET III cable ...
Страница 34: ... 23 2 F series a CR750 D controller ...
Страница 35: ... 24 b CR751 D controller ...
Страница 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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