Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

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9.2 Mo Trigger (DefMoTrg, SetMoTrg, M_MoTrg)
The Mo trigger function is used to issue trigger signals when conditions are established based on
conditions defined by combining the following data with a comparison operation. The Mo trigger
status is output to status variable M_MoTrg.
Data Description
Each P_Curr component Robot current position (linear data)
Each P_Fbc component Robot FB position (linear data)
Each J_Curr component Robot current position (joint data)
Each J_Fbc component Robot FB position (joint data)
Each P_FsCurP component Position command after offsetting with force control
Each P_FsCurD component Force sensor data (values after updating offset cancel, converting tool/XYZ
coordinates)
M_FsRsltF Force sensor data resultant force (values after updating offset cancel,
converting tool/XYZ coordinates)
M_FsRsltM Force sensor data resultant moment (values after updating offset cancel,
converting tool/XYZ coordinates)
M_In Input signal ON/OFF status
M_Out Output signal ON/OFF status
By using this function, complicated trigger conditions can be specified for use with work completion
judgment/interrupt processing when abnormal work is performed (DEF ACT command), and for changing
force sense control characteristics (FsCTrg command), and so on.
To use the Mo trigger, define trigger conditions with the following procedure, and then start condition
monitoring.
<Mo trigger setting procedure flow>
(1) Define trigger conditions with the Def MoTrg command. Up to three types of conditions can be set.
(2) Enable the Mo trigger with the SetMoTrg command.
(3) Perform condition branching and interrupt processing using values output to status variable M_MoTrg.
* Procedures (2) and (3) are unnecessary if using FsCTrg command.
Program example
Def MoTrg 1, ((P_Fbc.Z <= 5) AND (P_FsCurD.Z > 18)) 'Define work complete conditions for Mo trigger #1.
Def Act 1, M_MoTrg(1)=1 GoTo *XOK, F 'Define Mo trigger #1 as interrupt condition.
Mvs PStart 'Move the robot above the insert position.
Set MoTrg 1 'Enable Mo trigger #1.
Fsc On, 0, 0, 1 'Enable force sense control.
Act 1=1
• • • • • •
Fsc Off 'Disable force sense control.
Act 1=0
Set MoTrg 0 'Disable Mo trigger.
End
Def MoTrg 3, (P_Fbc.Z < 100) 'Work complete conditions defined for Mo trigger 3.
Fsc On, 0, 1, 1 'Enable force sense control.
FsCTrg 3, 100, 2 'Enable Mo trigger #3 and change the control characteristics
from 1 to 2 when the trigger turns ON.
Mvs P1
• • • • • •
Fsc Off 'Disable force sense control.
End