Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

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Chapter 4 Parameter Setting
The correlation of the force sensor coordinate system and robot coordinate system needs to be defined
in the parameter setting.
After turning ON the power, set the parameters with RT ToolBox3.
After setting the parameters, restart the controller. The setting value will be reflected by restarting.
4.1 Force Sensor Parameter Setting
In the parameter setting window of RT ToolBox3, set the force sensor parameter, control mode, and
control characteristics.
For the force sensor installed by the step in Chapter 2, input the value of the following setting
example.
(1) Force sensor parameter
Setting example
Item Setting value Description
1) Robot # (AXMENO) 1 1···Robot arm
2) Axis # (AXJNO) 9 9···Axis 9 of the robot
3) Place [mm]
(FSXTL)
X 0
Distance between the mechanical interface
coordinate system and force sensor detection
position
Y 0
Z 32
4) Angle [deg]
(FSXTL)
A 0
Rotation angle of the force sensor coordinate
system for the mechanical interface coordinate
system
B 180
C 0
5) Max. Offset
(FSCORMX)
Position 200
A value to limit the travel distance from the
position where the force sense is enabled
Angle 90
6) Tolerance Level
(FSLMTMX)
Fx, Fy, Fz 200
Tolerance value of the force sensor
(this example is for 200 N specifications)
Mx, My, Mz 4
7) Filter Time Constant (FSFLCTL) 1.70
Set this when the sensor data is not stable or
the robot vibrates during the force sense
control
6) Tolerance
value
7) Filter time constant
1) Robot number
2) Axis number
3) Installation
position [mm]
4) Installation angle [deg]
5) Maximum offset
Force Sensor parameter setting window