Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

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( → Continuation of (3) Coordinate calculation)
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26 Mvs P2
27 P1.Y=P1.Y+5
28 P2.Y=P1.Y
29 Mvs P2
30 Mvs P1
31 P1.Y=P1.Y+5
32 P2.Y=P1.Y
33 Next M1
34 Act 1=0
35 Fsc Off
36 End
37 '
38 '
Interrupt processing
39 *PCEN
40 Dim PX(2),PY(2)
41 P0=P_Curr 'The position where the robot axis falls into the hole and stops is used as a reference.
42 PX(1)=P0
43 PX(2)=P0
44 PY(1)=P0
45 PY(2)=P0
46 PX(1).X=P0.X+10 'The position ±10 mm in the XY-direction from the reference position is calculated.
47 PX(2).X=P0.X-10
48 PY(1).Y=P0.Y+10
49 PY(2).Y=P0.Y-10
50 '
51 Fsc Off
52 P_FsFLm0=(+2.00,+2.00,+5.00,+5.00,+5.00,+5.00)(0,0)
'Change the X, Y-axis direction force
detection setting value to 2 [N].
53 Fsc On,0,0,1
54 MFLG=0
55 '
56 For M1=1 To 2
57 Mvs PX(M1) WthIf P_FsLmtR.X=1,Skip
'Move the axis ±10 mm in the X-axis direction and skip if the
force detection setting is exceeded.
58 If M_SkipCq=1 Then
59 PX(M1)=P_FsLmtP 'If skipped, the position where the force detection setting value is exceeded is retained.
60 MFLG=MFLG+1
61 EndIf
62 Mvs P0
63 Fsc Off
'Force sense control is temporarily enabled to reset P_FsLmtP.
64 Fsc On,0,0,1
65 Next M1
66 '
67 For M1=1 To 2
68 Mvs PY(M1) WthIf P_FsLmtR.Y=1,Skip
'Move the axis ±10 mm in the Y-axis direction and skip if the
force detection setting is exceeded.