Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

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(5) Specifying the stiffness coefficient (P_FsStf0/P_FsStf1, FSSTF0#)
Stiffness control/limited stiffness control softness is specified with the stiffness coefficient.
Set the stiffness coefficient for X, Y, Z, A, B, and C-axis each.
The stiffness coefficient is equivalent to the spring constant. The stiffness of the control increases
as the value increases, and decreases the control as the value decreases.
<Correlation between teaching position and reaction force>
If stiffness control mode is selected, when an external force acts on the arm tip, resulting in displacement
between the teach position and actual position, the robot moves to a position at which the reactive force
corresponding to the "displacement" and "stiffness coefficient" can be obtained.In the following image,
stiffness control is performed only for the tool Z-axis. By setting 0.5 [N/mm] for the Z-direction stiffness
coefficient, and the teaching position at 5 mm below the contact surface, force F produced on the contact
surface is calculated as follows.

The smaller the stiffness coefficient, the smaller the reactive force, helping to deal with
greater displacements.

When 0.0 is set with the stiffness coefficient, the reactive force is not generated in the
case of the position is changed by external force.

When the limited stiffness control, the robot is controlled within the specified reactive
force that is set with limit value.
F = 0.5 [N/mm] × 5 [mm] = 2.5 [N]
Actual position
(contact position)
Position command
(teaching position)
P_FsStf0 / P_FsStf1 = (
△
,
△
,
△
,
△
,
△
,
△
,0,0)(0,0)
△
= 0.0 to 1000.0
X, Y, Z
  
[N / mm]
A, B, C
  
[N·m / deg]
P_FsStf0=(+0.01,+0.01,+0.00,+0.00,+0.00,+0.00)(0,0)
Stiffness coefficient: Specify 0.01 [N/mm] for X, Y-axis component.
Program example