-51-
5.4 Control Mode and Control Characteristics Details
(1) Settings for the force sense control conditions
When enabling force sense control, it is necessary to specify conditions for starting force sense control.
Register these conditions by using the parameters and status variables. Up to 11 types of settings
can be registered for each setting item. (9 types of parameter, 2 types of status variable)
a) Control mode
Setting Item
Description
Reference
Force sense
control coordinate
system
Defines the coordinate system for force sense control.
Select from Tool coordinate system/XYZ coordinate system.
(3) Specifying the
force sense
control coordinate
system
Force sense
control mode
Selects the force sense control method for each force sense
control coordinate system axis.
Select from Positional control/Force control/Stiffness
control/limited stiffness control.
(4) Specifying the
force control
mode
Stiffness coefficient Sets the flexibility for axes for which stiffness control/limited
stiffness control is selected.
(6) Specifying the
stiffness
coefficient
Damping
coefficient
Sets the responsiveness for axes for which force control or
stiffness control/limited stiffness control is selected.
Adjust when the robot vibrates at contact.
(7) Specifying the
damping
coefficient
The following three items are set when using the gravity off set cancel.
(This settings are set automatically by the force sensor calibration function. It is not necessary to set it
again.)
Setting Item
Description
Reference
Force sensor bias
value
Bias value of the force sensor is set.
The bias value of the force sensor will be a constant offset
occurring in the sensor with no load.
(by tightening at the time of installation a force sensor)
(13) Gravity offset
cancel
Load center of
gravity position
Sets the center of gravity position of the load that installed to
the force sensor.
Load mass
Sets the mass of the load that installed to the force sensor.
Содержание MELFA BFP-A3614
Страница 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
Страница 2: ......
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 ...
Страница 75: ... 64 MEMO Please use this page for your memo ...
Страница 95: ... 84 MEMO Please use this page for your memo ...
Страница 103: ... 92 MEMO Please use this page for your memo ...
Страница 111: ... 100 MEMO Please use this page for your memo ...
Страница 119: ... 108 MEMO Please use this page for your memo ...
Страница 123: ... 112 MEMO Please use this page for your memo ...
Страница 129: ... 118 MEMO Please use this page for your memo ...
Страница 133: ... 122 MEMO Please use this page for your memo ...
Страница 137: ... 126 MEMO Please use this page for your memo ...
Страница 143: ... 132 MEMO Please use this page for your memo ...
Страница 149: ... 138 MEMO Please use this page for your memo ...
Страница 153: ... 142 MEMO Please use this page for your memo ...
Страница 159: ... 148 MEMO Please use this page for your memo ...
Страница 171: ... 160 MEMO Please use this page for your memo ...
Страница 183: ... 172 MEMO Please use this page for your memo ...
Страница 191: ... 180 MEMO Please use this page for your memo ...
Страница 211: ......