Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

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(8) Specifying the force sense control gain (P_FsGn0/P_FsGn1, FSSWF0#)
Adjust the response of the force sense control. When using the force control and stiffness
control, this setting is required.
The response improves as the setting value increases. If the setting value is too high, the
operation may be unstable and increase the possibility of vibration due to high sensitivity at
contact.
Because the stiffness of the contact target affects the force sense control gain, the gain setting
value needs to be changed according to the contact target. Adjust the setting value according
to the contact target and hand stiffness.
[Adjustment method]
1) Set 1.0 as an initial value to adjust the gain setting value to the axis which executes the force
sense control.
2) Move the robot at low speed by JOG operation in the axis direction for which force sense
control (force control/stiffness control/limited stiffness control) is enabled until contact is made
with the target object. (speed override: approx. 5%)
3) If the robot rebounds in the opposite direction from the movement direction when contact is
made, it is necessary to lower the gain setting value. (The gain setting value can be increased
if the robot does not rebound.)
* When 0.0 is set, the offset by the force sense control is not performed. A control equivalent to
position control (normal control) is performed.
* Control can be changed from position control to force control/stiffness control/limited stiffness
control or vice versa by changing the gain setting value during robot movement. (Use the
FsGChg command or the FsCTrg command.)
P_FsGn0 / P_FsGn1 = (
△
,
△
,
△
,
△
,
△
,
△
,0,0)(0,0)
△
= 0.0 to 300.0
X, Y, Z · · · [ μ mm / N]
A, B, C · · · [
μ
deg / N]
P_FsGn0=(+80.00,+80.00,+0.00,+0.00,+0.00,+0.00)(0,0)
Gain (specify 80 [10-3 mm/N] for X, Y-axis direction)
Program example