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Mitsubishi Electric 4F-FS001-W200 Instruction Manual
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Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Industrial robot, controller, force sense function
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Mitsubishi Industrial Robot
CR750/CR751 series controller
Force Sense Function
Instruction Manual
4F-FS001-W200
4F-FS001-W1000
BFP-A8947-C

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Summary of Contents for Mitsubishi Electric 4F-FS001-W200

  • Page 1 Mitsubishi Industrial Robot CR750/CR751 series controller Force Sense Function Instruction Manual 4F-FS001-W200 4F-FS001-W1000 BFP-A8947-C...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop.
  • Page 6 DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, and leading to malfunction. CAUTION Make sure there are no mistakes in the wiring.
  • Page 7 ■ Revision History Instruction Manual Print Date Revision content 2012-10-03 BFP-A8947 • First print 2015-12-10 BFP-A8947-A • The cover design of this manual was changed. 2016-04-08 BFP-A8947-B • Application Examples were corrected. (Section 8.3.6 and 10) • Table 13-3 was modified. •...
  • Page 8 ■ Introduction Thank you for purchasing a Mitsubishi Electric industrial robot. The "force sense function" uses force sensor information with 6 degrees of freedom to provide the robot with a sense of its own force. Using dedicated commands and status variables compatible with the robot program language (MELFA-BASICV) facilitates work requiring minute power adjustments and power detection that was not possible on past robots.

  • Page 9: Table Of Contents

    3.7.4 Force Sensor Coordinate System ...................... 3-21 4 Check Before Use ..........................4-22 4.1 Product Check ............................4-22 4.1.1 Force Sensor Set 4F-FS001-W200 ....................4-22 4.1.2 Force Sensor Set 4F-FS001-W1000 ....................4-23 4.2 Software Versions ............................ 4-24 5 Attaching the Force Sensor ........................5-25 5.1 Attachment Adapter ..........................
  • Page 10 7.1.2 If Using R32TB/R33TB ........................7-43 7.2 Checking the Force Sensor Attachment Coordinate System ..............7-44 8 Using the Force Sense Function (Programming) ................. 8-45 8.1 Force Sense Control ..........................8-46 8.1.1 Force Sense Enable/Disable Commands ..................8-48 8.1.2 Control Mode / Control characteristics ....................8-49 8.1.3 Offset Cancel Designation ........................
  • Page 11 13 Troubleshooting ..........................13-198 13.1 Behavior when Force Sense Control Errors Occur ................13-198 13.2 Force Sense Fuction Related Error List ..................... 13-198 13.3 Force Control Function Related Error Details ..................13-200 13.4 Q & A ..............................13-206 14 Appendix ............................14-207 14.1 Control Status Transition ........................
  • Page 13 1 Using This Manual 1 Using This Manual 1.1 Using This Manual This manual is divided up in to the following sections, and describes how to use the force sense function, which employs a force sense interface and force sense sensor. Refer to the "Instruction Manual" provided with the robot controller for details on functionality and the operation methods for the standard robot controller.

  • Page 14: Using This Manual

    1 Using This Manual 1.2 Terminology Used in This Instruction Manual The following is a list of terminology used in this manual. Table 1-2: Description of Terminology Content Force sense function This is the name of the robot control function using a force sensor. It consists of force sense control, force sense detection, and force sense log functions.

  • Page 15: Select The Force Sensor

    Close tolerance fit Phase focusing 4F-FS001-W200 4F-FS001-W200 4F-FS001-W200 Parts assembly (Upward and Test(Pressed/Pull-out) downward limited) Inset 4F-FS001-W1000 4F-FS001-W1000 Deburr/Polishing *1: If you want to use the force sensor with the RV-35/50/70F robot, please contact Mitsubishi Electric Corporation. Select the Force Sensor 1-3...

  • Page 16: Using This Manual

    1 Using This Manual When robot changes posture, force sensor is received moment by tool own weight. Tool W (kg) Center of gravity of the hand (m) Ｌ Ｌ Center of gravity of the Workpiece Center of gravity If tool shape is like Workpiece of the hand figure, force sensor...

  • Page 17: Work Flow

    2 Work Flow 2 Work Flow The work required to construct a system employing a force sensor is shown below. Refer to the following work flow and carry out the work as described. 2.1 Flowchart 1. Force sense function system specifications.."See Chapter of this manual."...

  • Page 18: Force Sense Function System Specifications

    3 Force Sense Function System Specifications 3 Force Sense Function System Specifications 3.1 What is the Force Sense Function? The "force sense function" uses force sensor information with 6 degrees of freedom to provide the robot with a sense of its own force. Using dedicated commands and status variables compatible with the robot program language (MELFA-BASIC V) facilitates work requiring minute power adjustments and power detection that was not possible on past robots.

  • Page 19: System Configuration

    3 Force Sense Function System Specifications 3.2 System Configuration The device configuration required to use the force sense function is shown below. Force sense interface unit (2F-TZ561) Serial cable between unit and sensor (2F-FSCBL1-05) 24 VDC output cable (2F-PWRCBL-01) Force sensor (1F-FS001-W200/1F-FS001-W1000) SSCNETIII 24 VDC power...

  • Page 20: Force Sense Function Specifications

    3 Force Sense Function System Specifications 3.3 Force Sense Function Specifications The force sense function specifications are as follows. Table 3-1: Force sense function specifications Item Function Details Remarks Applicable robot RV-F Series / RH-F Series (*1) Robot program language MELFA-BASIC V (with dedicated force sense function commands) Force...
  • Page 21 3 Force Sense Function System Specifications Item Function Details Remarks RT ToolBox2 Waveform data Displays force sensor and position data. display Oscillograph Displays the data which is retrieved from a force This function can be sensor. used in the RT ToolBox software version 3.00A or later Parameter setting...

  • Page 22: Force Sense Interface Unit Specifications

    3 Force Sense Function System Specifications 3.4 Force Sense Interface Unit Specifications The force sense interface unit specifications are as follows. Table 3-2: Force sense interface unit specifications Item Unit Specification Value Remarks Model 2F-TZ561 Force No. of connected sensors sensor sensors Interface...

  • Page 23: Name Of Each Force Sense Interface Unit Part

    3 Force Sense Function System Specifications Name of Each Force Sense Interface Unit Part 3.4.2 The name of each force sense interface unit part is as follows. CN1A (for robot controller DC24 connector connection) CN1B CN422 (for power supply) (for additional axis amp (for force sensor connection) connection)

  • Page 24: Vdc Power Supply Specifications

    3 Force Sense Function System Specifications 3.5 24 VDC Power Supply Specifications The 24 VDC power supply specifications are as follows. Table 3-3: 24 VDC power supply specifications Item Unit Specification Value Remarks Model 2F-PWR-01 Input Voltage 85 to 264 current 1.3 typ.

  • Page 25: Vdc Output Cable

    3 Force Sense Function System Specifications 24 VDC Output Cable 3.5.2 (Pin assignment) 1: +24 V 2: 0 V 3: GND 24 VDC Input Cable 3.5.3 (Pin assignment) 1: L 3: N 5: FG 24 VDC Power Supply Specifications 3-13...

  • Page 26: Force Sensor Specifications

    3 Force Sense Function System Specifications 3.6 Force Sensor Specifications The force sensor specifications are as follows. Table 3-4: Force sensor specifications Item Unit Specification Value Remarks Model 1F-FS001-W200 1F-FS001-W1000 Be sure to set the Fx, Fy, Fz 1000 value within the rated load to the Rated load (*1) FSLMTMX (force...

  • Page 27: Force Sensor External Dimensions

    3 Force Sense Function System Specifications Force Sensor External Dimensions 3.6.1 Outline drawings of the force sensor are shown below. H7 effective depth 4 H7 effective depth 4 (Detection axis Y) Positioning pin hole Positioning pin hole 2-φ3H7, depth 4 2-φ3H7, depth 4 (Detection axis X)

  • Page 28: Sensor Attachment Adapter External Dimensions

    3 Force Sense Function System Specifications Sensor Attachment Adapter External Dimensions 3.6.2 Outline drawings of the sensor attachment adapter are shown below. For 1F-FS001-W200 4 – M3 screw depth 6 4 – 5.5 cut, ∅10 through-hole depth 10 (at equidistant points on 4 –...
  • Page 29 3 Force Sense Function System Specifications 4 – M6 screw through-hole, bottom hole 4.9 (at equidistant points on circumference) 4 – M3 screw depth 6, bottom hole depth 11 4 – 5.5 cut, ∅11 through-hole depth 8 (at equidistant points on circumference) depth 5 depth 6 Section A-A...

  • Page 30: Coordinate System Definition

    3 Force Sense Function System Specifications 3.7 Coordinate System Definition The force and moment coordinate systems used with the force sense function are summarized in "Table 3-5". Table 3-5: Force sense coordinate system list Coordinate System Name Description Force sense coordinate system Coordinate system that forms reference for calibration (mechanical interface) (See section...

  • Page 31: Force Sense Coordinate System (Mechanical Interface)

    3 Force Sense Function System Specifications Force Sense Coordinate System (Mechanical Interface) 3.7.1 The force sense coordinate system (mechanical interface) is defined as follows. +FXm +MXm +FZm +MZm Mechanical interface coordinate Force sense coordinate system system +MYm * Refer to the separate "Detailed (mechanical interface) Explanations of Functions and Operations (BFP-A8869)"...

  • Page 32: Force Sense Coordinate System (Xyz)

    3 Force Sense Function System Specifications Force Sense Coordinate System (XYZ) 3.7.3 The assumed force sense coordinate system (XYZ) used in force sense function processing is defined as follows. XYZ coordinate system (direction only) * Refer to the separate "Detailed Explanations of Functions and Operations (BFP-A8869)"...

  • Page 33: Force Sensor Coordinate System

    3 Force Sense Function System Specifications Force Sensor Coordinate System 3.7.4 The force sensor coordinate system is defined as follows. +FYs Robot side +MYs Tool side +MXs +FXs +FZs +MZs Coordinate Left-hand system system origin point H [mm] 1F-FS001-W200 H [mm] 1F-FS001-W1000 The origin point of the force sensor coordinate system is the position H [mm] away from the...

  • Page 34: Check Before Use

    4 Check Before Use 4 Check Before Use 4.1 Product Check Force Sensor Set 4F-FS001-W200 4.1.1 The standard configuration of this product is as follows. Please check. Table 4-1: Force sensor set (4F-FS001-W200) product configuration list Part Name Model Quantity Remarks <1>...

  • Page 35: Force Sensor Set 4F-Fs001-W1000

    4 Check Before Use Force Sensor Set 4F-FS001-W1000 4.1.2 The standard configuration of this product is as follows. Please check. Table 4-2: Force sensor set (4F-FS001-W1000) product configuration list Part Name Model Quantity Remarks <1> Force sensor (*1) 4F-FS001-W1000 1F-FS001-W1000 (force sensor set) <2>...

  • Page 36: Software Versions

    4 Check Before Use When using the force sensor set 4F-FS001-W1000, you should purchase the sensor attachment adapter set and the serial cable between unit and sensor (10 m) separately, according to your robot. Table 4-3: Additional items for force sensor set 4F-FS001-W1000 Part Name Model Quantity...

  • Page 37: Attaching The Force Sensor

    5 Attaching the Force Sensor 5 Attaching the Force Sensor This Chapter describes how to attach the force sensor. The force sensor is a precision measuring instrument, and attaching it carelessly may lead to a drop in accuracy or fault. Always check the following before performing attachment.

  • Page 38: Recommended Attachment Angle

    5 Attaching the Force Sensor 5.3 Recommended Attachment Angle The following attachment method is recommended to ensure easy calibration with the force sensor coordinate system and force sense coordinate system (mechanical interface) that forms the reference for the force sense function.

  • Page 39: Securing The Force Sensor Cable

    5 Attaching the Force Sensor 5.4 Securing the force sensor cable 1） Mount a cable tie fixture (attachment) on the sensor attachment adapter with cable tie fixation screw (attachment). 2） Connect the force sensor cable to the hand cable or serial cable between unit and sensor. 3）...

  • Page 40: Tool Installation

    5 Attaching the Force Sensor 5.5 Tool installation Use the bolt specified below when attaching a hand to the tool side of the force sensor. Tighten bolts little by little to ensure even contact. Nominal Tightening Engagement diameter torque [Nm] allowance [mm] 1F-FS001-W200 8 to 11...

  • Page 41: Device Connection, Wiring, And Settings

    6 Device Connection, Wiring, and Settings 6 Device Connection, Wiring, and Settings This Chapter describes "force sensor", "force sense interface unit", and "robot controller" connection, as well as default parameter settings. 6.1 Force Sense Unit ↔ Robot Controller Connect the force sense interface unit and robot controller as shown below. <CR750-D series>...
  • Page 42 6 Device Connection, Wiring, and Settings <CR751-D series> CR751-D controller (front side) To ExtOPT connector SSCNET III cable When using the additional axis function MR-J3-□B SSCNET III cable SSCNET III cable To CN1A To CN1B Force sensor interface unit (front side) To CN422 * When using the additional axis function, connect a general-purpose servo amplifier after the force sense interface unit.
  • Page 43 6 Device Connection, Wiring, and Settings <CR750-Q/CR751-Q series> CN2 connector SSCNET III cable When using the additional axis function MR-J3-□B SSCNET III cable SSCNET III cable To CN1A To CN1B Force sensor interface unit (front side) To CN422 * When using the additional axis function, connect a general-purpose servo amplifier after the force sense interface unit.

  • Page 44: Force Sense Interface Unit ↔ Force Sensor

    6 Device Connection, Wiring, and Settings 6.2 Force Sense Interface Unit ↔ Force Sensor Connect the force sense interface unit and force sensor as shown below. <Robot with internal wiring> * RV-2/35/50/70F is excepted. Built-in cable Force sense I/F unit Base external wiring set Force sensor Connect to CN422...
  • Page 45 6 Device Connection, Wiring, and Settings <Standard robot> The adapter cable is not used for the standard robot. Force sensor Serial cable between unit and sensor Force sense I/F unit Connect CN422 connector. Force Sense Interface Unit Force Sensor 6-33...

  • Page 46: Turning On The Power

    6 Device Connection, Wiring, and Settings 6.3 Turning ON the Power Turn ON the power only after checking that the force sense interface unit, robot controller, and force sensor have been properly connected. Turn the power ON and OFF in the following order. <When turning the power ON>...

  • Page 47: Default Parameter Settings

    6 Device Connection, Wiring, and Settings 6.5 Default Parameter Settings Set the following parameters after turning ON the power. (Settings can be specified efficiently using the RT ToolBox2 / R56TB / R57TB parameter setting screen. → See section 12.2 12.3 After setting all parameters, reboot the controller.

  • Page 48: Force Sense Interface Unit Identification

    6 Device Connection, Wiring, and Settings Force Sense Interface Unit identification 6.5.1 It is necessary to set parameters at the robot controller side in order for the robot controller to recognize the force sense interface unit. Set these parameters as follows. (The same parameters as that for the additional axis function are used.) Parameter Parameter...

  • Page 49: Calibration

    6 Device Connection, Wiring, and Settings Calibration 6.5.2 To use the force sense function, it is necessary to define (calibrate) the correlation between the force sensor coordinate system and force sense coordinate system (mechanical interface). Calibration is performed with the following parameter settings.
  • Page 50 6 Device Connection, Wiring, and Settings 6.5.2.1 Parameter Setting Example 1 (for Recommended Attachment) When the force sensor attachment is the recommended attachment (described in section the parameter settings for elements 1 to 4 for FSHAND and FSXTL will be the default factory settings. Change only elements 1 to 3 for FSXTL.
  • Page 51 6 Device Connection, Wiring, and Settings 6.5.2.2 Parameter Setting Example 2 If, as shown below, the force sensor coordinate system origin is offset 50 mm in the +Zm direction and rotated 30 degrees around the Zm-axis as viewed from the mechanical interface coordinate system, set the parameters as follows.

  • Page 52: Force Sensor Tolerance

    6 Device Connection, Wiring, and Settings Force Sensor Tolerance 6.5.3 The system is equipped with a function to stop robot operation in order to protect the force sensor if a value greater than that set for force and moment in parameter FSLMTMX is detected. Always set parameter FSLMTMX before use.

  • Page 53: Force Sensor Control Offset Limit

    6 Device Connection, Wiring, and Settings Force Sensor Control Offset Limit 6.5.4 This parameter sets the position command offset upper limit for force sense control. If the offset exceeds this upper limit, an error (H2760) occurs. This acts as a protection function for inadequate operation or setting, and therefore the required minimum value should be set.

  • Page 54: Checking The Connection And Settings

    7 Checking the Connection and Settings 7 Checking the Connection and Settings Before using the force sense function, ensure that force sensor data is being sent to the robot controller in the correct coordinate system. 7.1 Checking Force Sensor Data Communication Display the teaching pendant force sense control screen with the following operation, and ensure that the force sensor data is displayed correctly.

  • Page 55: If Using R32Tb/R33Tb

    7 Checking the Connection and Settings If Using R32TB/R33TB 7.1.2 Menu screen Extension function menu screen Monitor mode Ensure that the force sensor data changes. Checking Force Sensor Data Communication 7-43...

  • Page 56: Checking The Force Sensor Attachment Coordinate System

    7 Checking the Connection and Settings 7.2 Checking the Force Sensor Attachment Coordinate System Check force data when external force is applied by hand to the force sensor tool side. If set correctly, the correlation between the direction in which force is applied and the changed direction in the force data will be as shown in "Table 7-1".

  • Page 57: Using The Force Sense Function (Programming)

    8 Using the Force Sense Function (Programming) 8 Using the Force Sense Function (Programming) This Chapter describes robot programming using the force sense function. The force sense function consists of "force sense control", "force sense detection", and "force sense log" functions.

  • Page 58: Force Sense Control

    8 Using the Force Sense Function (Programming) 8.1 Force Sense Control The force sense control function is used to control robot softness and push force. Depending on the application, this function switches between "force control" and "stiffness control". The characteristics of each type of control are described below.
  • Page 59 8 Using the Force Sense Function (Programming)  Singular point adjacent operation restrictions  Singular point adjacent operation cannot be performed while force sense control is enabled, 注意 regardless of interpolation or JOG operation. If the robot approaches a point adjacent to a singular point during operation, an error (L3986) occurs.

  • Page 60: Force Sense Enable/Disable Commands

    8 Using the Force Sense Function (Programming) Force Sense Enable/Disable Commands 8.1.1 Force sense control is started with the MELFA-BASIC V language Fsc On command based on conditions specified for arguments "Control mode", "Control characteristics ", and "Offset cancel command". (Refer to "Chapter for details on operation from the teaching pendant.) Force sense control is disabled with the Fsc Off command.

  • Page 61: Control Mode / Control Characteristics

    8 Using the Force Sense Function (Programming) Control Mode / Control characteristics 8.1.2 When enabling force sense control, it is necessary to specify conditions for starting force sense control. Table Table 8-3 shows a list of setting items relating to force sense control conditions. Table 8-3: Force sense control conditions Setting Item Description...
  • Page 62 8 Using the Force Sense Function (Programming) Table 8-4: Setting parameters and status variables for force sense control conditions Status Setting Item Description Parameter Variable Force sense Specifies the coordinate system for force sense control. FSCOD0# M_FsCod0 control (See section 8.1.2.1 M_FsCod1 coordinate...
  • Page 63 8 Using the Force Sense Function (Programming) Force The value has different roles in the force control and FSFCMD0# P_FsFCd0 command thelimited stiffness control. P_FsFCd1 value/limit value [In the case of force control] Sets the force command for force sense control. (See section 8.1.2.5 [Setting range]: - force sensor tolerance value to +...
  • Page 64 8 Using the Force Sense Function (Programming) All parameter settings are classified by "condition groups" consisting of the control mode and control characteristics, and "condition Nos." constituting numbers -1 to 9. When specifying conditions with the Fsc On command, they are specified with a combination of these "condition groups" and "condition Nos." Statement structure:FscOn, <Control mode>, <Control characteristics >, <Offset cancel designation>...
  • Page 65 8 Using the Force Sense Function (Programming) 8.1.2.1 Force Sense Control Coordinate System The coordinate systems used with force sense control are specified from the following. Tool coordinate system XYZ coordinate system Force sense coordinate system (tool) Force sense coordinate system (XYZ) +FXt +FZt +FYt...
  • Page 66 8 Using the Force Sense Function (Programming) 8.1.2.3 Stiffness Coefficient Stiffness control/limited stiffness control softness is specified with the stiffness coefficient. The stiffness coefficient is the equivalent of spring constant, and the greater the value, the harder the control. <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 reaction force corresponding to the "displacement"...
  • Page 67 8 Using the Force Sense Function (Programming) 8.1.2.5 Force Command Value Sets the force command value for force control (force priority mode). When force control is enabled, the robot moves so that the reaction force specified with the force command value can be obtained. If no external force acts on the robot (if no contact is made), the robot moves in the force command value direction and reaction force direction (direction in which the specified force is produced when contact is made.) +FXt...
  • Page 68 8 Using the Force Sense Function (Programming) Reaction Reaction force force Limit Stiffness corfficient Movement Movement distance distance Low stiffness High stiffness (a)Stiffness control (b)Limited stiffness control 8.1.2.7 Speed Command Value Specifies the movement speed for force control (speed priority mode) when no contact is made with the target object.
  • Page 69 8 Using the Force Sense Function (Programming) The speed specified with the speed command value is the force sense control offset Caution speed, and not the actual robot movement speed. If the robot is not moving in other than in force sense control, such as when performing interpolation commands or JOG operation, but moving only in speed priority mode, the "specified offset speed = robot movement speed".
  • Page 70 8 Using the Force Sense Function (Programming) <Force priority mode> Data from the force sensor is used to control the robot until the force specified with the force specification ・ value is reached. The robot moves in the direction which satisfies the force specification value by following the axis direction ・...

  • Page 71: Offset Cancel Designation

    8 Using the Force Sense Function (Programming) 8.1.2.10 Force Detection Setting Value The force detection setting value is used with the following functions. Refer to the respective items. Function Class Description Reference Force sense Interrupt Monitors the status with regard to the force See section detection execution...

  • Page 72: Control Characteristics Change Commands

    8 Using the Force Sense Function (Programming) Control characteristics Change Commands 8.1.4 The "control characteristics " (force sense control gain, force specification value/limit value, speed command value, mode switching judgment value, force detection setting value) settings can be changed while force sense control is enabled using the MELFA-BASIC V language FsGChg and FsCTrg commands.
  • Page 73 8 Using the Force Sense Function (Programming) FsCTrg (FsC trigger) [Function] Sets the control feature change for force sense control with an Mo trigger. * If using the FsCTrg command, it is necessary to set the Mo trigger conditions beforehand. [Syntax] FsCTrg ...

  • Page 74: Usage Example (Force Sense Control)

    8 Using the Force Sense Function (Programming) Usage Example (Force Sense Control) 8.1.5 This section describes the specific usage method for each function using sample programs. <Control mode / control characteristics settings> The sample programs described below set the "control mode" and "control characteristics " using status variables.
  • Page 75 8 Using the Force Sense Function (Programming) Force Control 1 ■ Operation details The robot is pushed in the Z-direction with a force of 10 N. Force control is started from the PStart position.  The robot is moved in the force sense control coordinate system (tool) +FZt direction until a reaction force ...
  • Page 76 8 Using the Force Sense Function (Programming) Force Control 2 (Force-Speed Priority Mode Switching) ■ Operation details The robot is moved at a speed of 5 mm/s in the tool Z-direction and pushed with a force of 10 N the moment it collides.
  • Page 77 8 Using the Force Sense Function (Programming) ■ Description Force sense control is started with the Fsc On command based on the conditions set for "Control mode (0)" and "Control characteristics (0)". If the external force is less than the "mode switching judgment value (FZt=2.5N)" specified with the status variable P_FsSwF0, "speed priority mode"...
  • Page 78 8 Using the Force Sense Function (Programming) Stiffness Control ■ Operation details Controls the robot softly like a spring with respect to external force applied in the force sense coordinate system (tool) ±FXt and ±FYt directions. Stiffness control is specified only for the FXt and Fyt axes. (Position control is specified for all other axes.) ...
  • Page 79 8 Using the Force Sense Function (Programming) Control control characteristics Change 1 ■ Operation details The push force (control characteristics) is changed during robot movement. The robot starts moving from P1 to P2 while pushing with a force of 5.0 N in the Z-direction. ...
  • Page 80 8 Using the Force Sense Function (Programming) ■ Description After the robot moves to the position 3 mm over the contact position, wait for 1 s until the robot comes to a complete stop. Force sense control (force control) is started with the Fsc On command. The control characteristics change conditions are specified with the FsGChg command.
  • Page 81 8 Using the Force Sense Function (Programming) Control characteristics Change 2 (Mo Trigger) ■ Operation details The robot moves while following a guide gauge. Movement is started in the +Y-direction at a speed of 10 mm/s while pushing in the –X direction with a ...
  • Page 82 8 Using the Force Sense Function (Programming) ■ Description Changes the control characteristics (force command direction, speed command when in speed priority mode) when the conditions specified for the Mo trigger are established using the FsCTrg command. (See section 8.2.1 for details on the Mo trigger.) The Mo trigger is defined with the Def MoTrg command.

  • Page 83: Force Sense Detection

    8 Using the Force Sense Function (Programming) 8.2 Force Sense Detection The force sense detection function detects the robot contact status using force sensor information. By using this function, applications with high degree of freedom can be constructed in MELFA-BASIC V to detect contact during movement, change the movement direction, detect work failures, and perform retry operation or error processing and so on.

  • Page 84: Mo Trigger

    8 Using the Force Sense Function (Programming) Mo Trigger 8.2.1 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.
  • Page 85 8 Using the Force Sense Function (Programming) Refer to " Chapter Language Specifications " for details on each command. Def MoTrg (Def Mo trigger) [Function] Defines trigger conditions (Mo trigger) that reference position commands and the FB position, as well as force sensor data and so on.
  • Page 86 8 Using the Force Sense Function (Programming) M_MoTrg [Function] References the Mo trigger enabled/disabled status, and the enabled trigger ON/OFF status. [Syntax] Example) <Numerical variable> = M_MoTrg (<Trigger No.>) Details Value Defined/Undefined Enabled/Disabled Trigger ON/OFF Status Status Status Defined Enabled Defined Enabled Defined...

  • Page 87: Force Detection Status

    8 Using the Force Sense Function (Programming) Force Detection Status 8.2.2 M_FsLmtS Status variable M_FsLmtSw checks whether the force detection setting value specified with the " control characteristics " group has been exceeded. It can be used for interrupt processing and so on when a collision occurs.

  • Page 88: Usage Example (Force Sense Detection)

    8 Using the Force Sense Function (Programming) Usage Example (Force Sense Detection) 8.2.5 Interrupt Processing (M_FsLmtS) ■ Operation details Abnormal force is detected at times of collision and the robot comes to an emergency stop. The force detection status is constantly monitored, and when contact is made, the robot is stopped swiftly ...
  • Page 89 8 Using the Force Sense Function (Programming) Interrupt Processing (Mo Trigger) ■ Operation details The push force and position are inspected simultaneously, and the quality of the work is judged. Work is judged as being successful if the Z coordinate is less than 5 mm, and a reaction force greater than ...
  • Page 90 8 Using the Force Sense Function (Programming) from current position Mvs P2 ■ Description Work complete conditions are defined for Mo trigger 1 with the Def MoTrg command. Force sense control is enabled after enabling Mo trigger 1, and insertion work is started. If insertion work is not complete within 5 seconds of work starting, a 9100 error is output, and insertion work is stopped.
  • Page 91 8 Using the Force Sense Function (Programming) Data Latch/Data Referencing ■ Operation details Position data and force data during push movement is latched, and the spring part spring constant is calculated. Data is set to that position and force data is saved at the point FZt=10 N is exceeded. (Data latch function) ...
  • Page 92 8 Using the Force Sense Function (Programming) ■ Description The force detection setting value is set and force control is enabled so that the position/force data are latched when FZt=10 N. The robot is moved slowly to position PEnd at the speed of 10 mm/s and the spring is pushed. Each of the position/force data at the moment the spring reaction force at the spring push process exceeds 10 N is saved to status variables P_FsLmtP and P_FsLmtD.

  • Page 93: Force Sense Log

    8 Using the Force Sense Function (Programming) 8.3 Force Sense log The force sense log function is used to obtain and display log data such as force sensor data and position data. Log data can be viewed in a graph using the RT ToolBox2 force sense control log file viewer. This function can be used for such tasks as force sense control related parameter adjustments and checking the work status.
  • Page 94 8 Using the Force Sense Function (Programming) Table 8-11: Collected data Collected Data Unit Supplementary Information Set with parameter FSLOGFN from the following: • Force sensor raw data (with offset cancel) Force sensor [N] or [Nm] • Force sensor raw data (without offset cancel) data •...

  • Page 95: Parameter Settings

    8 Using the Force Sense Function (Programming) Parameter Settings 8.3.2 Parameter settings relating to the force sense log function are as follows. It is necessary to set parameter FSLOGFN in order to use the force sense log function. (Settings can be specified efficiently using the parameter editing screen discussed in sections 12.2 12.3 Table 8-13: Force sense log related parameter list...

  • Page 96: Force Sense Log Data Acquisition

    8 Using the Force Sense Function (Programming) Force Sense Log Data Acquisition 8.3.3 Robot language MELFA-BASIC V FsLog On and FsLog Off commands are used to specify the start and end of log data acquisition. When the FsLog Off command is executed, a log file with specified file No. name is generated.

  • Page 97: Force Sense Log Data Display (Rt Toolbox2)

    8 Using the Force Sense Function (Programming) Force Sense Log Data Display (RT ToolBox2) 8.3.4 The method used to display force sense log data in a graph using the RT ToolBox2 force sense control log file viewer function is described below. 8.3.4.1 Start Method Select [Tools] →...
  • Page 98 8 Using the Force Sense Function (Programming) 8.3.4.2 Main Screen Log files are imported and displayed in a graph using the buttons on the force sense control log file viewer main screen. A description of each button is given below. Fig.
  • Page 99 8 Using the Force Sense Function (Programming) Item Description By pressing the [Read RC] button and reading a log file with the [Copy File] check box selected, a log file save screen appears after reading the log file. Specify the file save destination and file name, and then click [OK] to save the read log file to the computer.
  • Page 100 8 Using the Force Sense Function (Programming) 8.3.4.3 Data Selection Screen Selects data displayed at the following Data Selection screen. If separating the graph into Graph 1 and Graph 2, select the "Graph 2" check boxes for data to be displayed in Graph 2. Fig.
  • Page 101 8 Using the Force Sense Function (Programming) 8.3.4.4 Display Range Setting Screen Sets the range for the displayed waveform data from the [Display Range] screen. Fig. 8-5 Image of Display Range setting screen Table 8-16 Display Range setting screen description Item Description Vertical axis display...

  • Page 102: Force Sense Log File Ftp Transfer

    8 Using the Force Sense Function (Programming) Force Sense Log File FTP Transfer 8.3.5 Force sense log files created in the robot controller can be transferred to an FTP server using the robot language MELFA-BASIC V FsOutLog command. FsOutLog [Function] Transfers logged data to the FTP server.

  • Page 103: Usage Example (Force Sense Log)

    8 Using the Force Sense Function (Programming) Usage Example (Force Sense Log) 8.3.6 Force Sense Log Data Acquisition and Display ■ Operation details Acquires data for the force acting on the workpiece when performing assembly work and displays it in a graph. Pin insertion work is performed after starting force sense log data acquisition.
  • Page 104 8 Using the Force Sense Function (Programming) ■ Description Specifies settings to push the robot with a force of 0.0 N in the X- and Y-directions, and 5.0 N in the Z-direction with force control. The FsLog On command is executed to start log data acquisition. Insertion work is started with the Fsc On command, and the robot pushes until a reaction force of 4.5 N or greater acts in the Z-direction.
  • Page 105 8 Using the Force Sense Function (Programming) Force Sense Log Data Transfer ■ Operation details Transfers acquired log data files to the computer (FTP server). Force sense log data is collected during force sense control.  Force sense log data is saved and saved log files are transferred to the computer. ...

  • Page 106: Gravity Offset Cancel Function

    8 Using the Force Sense Function (Programming) 8.4 Gravity Offset Cancel Function Gravity offset cancel is a function that the offset cancel in response to a change in the direction of gravity applied to the force sensor by hand load at the time of posture change.To use this function, it is necessary to estimate the bias value of the force sensor, position of the senter of gravity and the mass of hand load by the force calibration.

  • Page 107: Calibration Procedure

    8 Using the Force Sense Function (Programming) Around the X-axis Posture No.1 Posture No.3 Posture No.2 Around the Y-axis Posture No.1 Posture No.5 Posture No.4 Fig. 8-6: Movement image of force calibration Set the anlgle smaller than reference value if the robot interfere with the peripheral Caution device or the tension of air hose attached to hand of various cable changes by the robot’s posture change and load is applied to force sensor other than gravity.
  • Page 108 8 Using the Force Sense Function (Programming) 8.4.3.1 Estimated Using the Force Calibration Screen The force calibration screen can be used with RT ToolBox2 Version 3.60N or later. 1） Specify the program name for the calibration Select [Tool] -> [Force sensor calibration] from the project tree, Please Start force calibration screen.Please input the program name for the force calibration in the force calibration start screen.
  • Page 109 8 Using the Force Sense Function (Programming) 3） Register the start position Please register the start position for force calibration. Set the position at which the mechanical interface of robot is parallel to the ground to the start position. In force calibration, rotate the X-axis and Y-axis around the mechanical interface.
  • Page 110 8 Using the Force Sense Function (Programming) 4） Spesify the rotary angle for calibration movement Please specify the rotary angle from the start position. In force calibration, the robot is rotated by a specified angle twice in the X-axis and Y-axis aroud the mechanical interface to the start position. Set the anlgle smaller than reference value if the robot interfere with the peripheral Caution device or the tension of air hose attached to hand of various cable changes by the...
  • Page 111 8 Using the Force Sense Function (Programming) 5） Confirm the posture for calibration Confirm the robot movement to 9 calibration movement data automatically made from the start position and rotary angle data to use [Position jump] button. After select the movement position in the movement position data list, please click [Position jump] button and confirm the robot movement.
  • Page 112 8 Using the Force Sense Function (Programming) 6） Execute the calibration movement Please execute the robot program for force calibration. If [Start operation panel] button is clicked, operation panel is started that the force calibration program is selected.Please click [Start] button from operation panel and start the calibration.
  • Page 113 8 Using the Force Sense Function (Programming) When you click [Finish] button to exit the force calibration, the program used in the Caution calibration will be removed from the controller. 8.4.3.2 Estimated Using the Robot Program Using the robot program estimate the mass and the position of the center of gravity of the hand load. If you want to estimate a robot program, use the following commands.

  • Page 114: Usage Example (Force Sensor Calibration)

    8 Using the Force Sense Function (Programming) Usage Example (Force Sensor Calibration) 8.4.4 Force sensor calibration ■ Operation details Estimates the mass and the center of gravity position of the hand by the force sensor calibration function. Execute the force sensor calibration. ...
  • Page 115 8 Using the Force Sense Function (Programming) ■ Description The "control mode" and "control characteristics " used after the calibration are set at the beginning of the program. The force sense calibration is started with the FsHndEst On command. After the robot moves to each calibration posture, the current position, the posture, and the force sensor data are obtained with the FsGetDat command.

  • Page 116: Using The Force Sense Function (Teaching)

    9 Using the Force Sense Function (Teaching) 9 Using the Force Sense Function (Teaching) This Chapter describes how to use the force sense function (force sense T/B) using the teaching pendant, and how to perform teaching using the force sense function. Refer to the section numbers and pages under "Reference"...

  • Page 117: Force Sense T/B

    9 Using the Force Sense Function (Teaching) 9.1 Force Sense T/B The force sense functions that can be used from R56TB/R57TB/R32TB/R33TB are summarized in "Table 9-2". Table 9-2: Force sense functions that can be used from teaching pendant Force Item Function Overview Force sense Force control...
  • Page 118 9 Using the Force Sense Function (Teaching) 9.1.1.1 Offset Cancel Operation If the force sensor data zero point is offset, force sense control will not function properly. Always perform the offset cancel operation (sensor zero point offset) before use. The offset cancel operation can only be performed when force sense control is disabled.
  • Page 119 9 Using the Force Sense Function (Teaching) 9.1.1.2 Selecting the Control Mode/Control characteristics Before enabling force sense control, it is necessary to set the force sense control "control mode" and "control characteristics " (parameters/status variables shown in Table 9-3) beforehand. (See section 8.1.2 for details.) Table 9-3: Control mode/Control characteristics settings...
  • Page 120 9 Using the Force Sense Function (Teaching) 9.1.1.3 Force Sense Control Enable/Disable Selection Enable or disable force sense control. If performing JOG operation using force sense control, select "Enable", and if performing normal JOG operation, select "Disable". The enable/disable selection is common to both automatic operation and JOG operation. The enable/disable status is retained even if the controller key switch is changed to and from MANUAL and AUTOMATIC.

  • Page 121: Force Sense Monitor

    9 Using the Force Sense Function (Teaching) Force Sense Monitor 9.1.2 Displays the force sensor current and maximum values. Retained maximum values can also be cleared. [Checking the force sensor data current/maximum values] The force sensor data current and maximum values are shown below. •...

  • Page 122: Contact Detection

    9 Using the Force Sense Function (Teaching) Contact Detection 9.1.3 If the force sense data exceeds the selected "control characteristics” force detection setting value while force sense control is enabled, JOG operation is automatically stopped. Furthermore, the buzzer sounds and the force sensor data display field on the teaching pendant changes color to notify the user that the force detection setting value has been exceeded.

  • Page 123: Usage Example (Force Sense Function T/B)

    9 Using the Force Sense Function (Teaching) Usage Example (Force Sense Function T/B) 9.1.4 Force Sense Control T/B (Force Control)  Operation details The robot is pushed with a force of 20 N in the Z-direction (tool coordinates) with the teaching pendant. Force sense coordinate system (tool)
  • Page 124 9 Using the Force Sense Function (Teaching) (3) Control mode/control characteristics selection (See section 9.1.1.2 Set the "control mode" and "control characteristics” numbers. In this example, control mode 1 and control • characteristics 1 are used, and therefore the settings are as follows. [R32TB/R33TB] (4) Force sense control enable operation (See section 9.1.1.3...
  • Page 125 9 Using the Force Sense Function (Teaching) Contact Detection/Force Sense Monitor ■ Operation details JOG operation is stopped automatically if unnecessary force acts on the workpiece. Check the maximum value for force applied to the workpiece. JOG operation is stopped if unnecessary force is applied.
  • Page 126 9 Using the Force Sense Function (Teaching) (3) Control mode/control characteristics selection (See section 9.1.1.2 Set the "control mode" and "control characteristics” numbers. In this example, control mode 1 and control • characteristics 1 are used, and therefore the settings are as follows. [R32TB/R33TB] (4) Force sense control enable operation (See section 9.1.1.3...

  • Page 127: Teaching Operation

    9 Using the Force Sense Function (Teaching) 9.2 Teaching Operation This Chapter describes teaching operation using force sense control.  Teaching operation precautions  If using force sense control, the position displayed on the teaching pendant and the actual robot position will differ.
  • Page 128 9 Using the Force Sense Function (Teaching) <Method 1>…Perform teaching operation after disabling force sense control. By disabling force sense control, the "command position" changes to the "force sense position command". <Method 2>…Perform teaching operation after pressing the "Teach pos. search" [Execute] button. By pressing the "Teach pos.
  • Page 129 9 Using the Force Sense Function (Teaching) 9.2.1.1 Teaching Position Search The "teaching position search" function is used to assist position teaching when force sense control is enabled. While force control is enabled, a position offset with force sense control is added to the normal position command (position taught with T/B), resulting in a difference between the actual robot position and position displayed on the teaching pendant.
  • Page 130 9 Using the Force Sense Function (Teaching) (Example)..If inserting pins while following the workpiece shape with stiffness control (stiffness coefficient ≠ 0), external force acts on one side of the pin. By performing teaching position search" at such times, the robot can "...

  • Page 131: Usage Example (Teaching Operation)

    9 Using the Force Sense Function (Teaching) Usage Example (Teaching Operation) 9.2.2 Teaching a Position Pushed with Fixed Force ■ Teaching details Teach the position at which the spring reaction force becomes 25 N. Teach this position. 25 N Spring ■...
  • Page 132 9 Using the Force Sense Function (Teaching) (5) Teaching (The following two teaching methods are available.) <Method 1> Ensure that the force sensor data is Fz=25 N, and then disable force sense control with the servo ON. • (By disabling force sense control, the current position data appears on the teaching pendant.) •...
  • Page 133 9 Using the Force Sense Function (Teaching) Teaching the Insertion Position (Using Force Control) ■ Teaching details Teach the ideal insertion position on which no external force acts.  Operation procedure (1) Parameter settings Select all axes and force control, and set the force command so that the robot is pushed with a force of 5 N •...
  • Page 134 9 Using the Force Sense Function (Teaching) <Method 2> • Ensure that the force sensor data is Fz=5N and that other axis components are 0 N / 0 N·m, and then perform "teaching position search" with the servo ON. (See section 9.2.1.1 9-122 Teaching Operation...
  • Page 135 9 Using the Force Sense Function (Teaching) Teaching the Insertion Position (Using Stiffness Control)  Teaching details Teach the ideal insertion position on which no external force acts.  Operation procedure (1) Parameter settings Specify force stiffness control for all axes until the robot becomes suitably soft. •...

  • Page 136: Force Sense Function Screen

    9 Using the Force Sense Function (Teaching) 9.3 Force Sense Function Screen R56TB/R57TB 9.3.1 If using the force sensor, an [F] button appears in the bottom of the JOG screen. By pressing this button, a force sense control screen appears on the left of the JOG screen. Fig.
  • Page 137 9 Using the Force Sense Function (Teaching) Table 9-4: Screen overview Screen Control Overview Displays/hides a screen (surrounded by red box in Fig. 9-3) relating to force [F] button sense control. (Does not appear if the force sensor interface unit is not connected.) Displays the current force sense control function enabled Enable/Disable •...
  • Page 138 9 Using the Force Sense Function (Teaching) Screen Control Overview Force Monitor Displays the force detection setting value (corresponds to parameters • FSFLMT01 to 09 and status variables P_FsFLm0 and P_FsFlm1) specified at "Control characteristics " Current Displays the current force sensor data (corresponds to status variable •...

  • Page 139: R32Tb/R33Tb

    9 Using the Force Sense Function (Teaching) R32TB/R33TB 9.3.2 Force sense function related screens are displayed by selecting from the extension function menu screen or by changing function from the JOG screen. These screens appear as follows on the R32TB. [JOG] key Menu screen [JOG] key...
  • Page 140 9 Using the Force Sense Function (Teaching) Table 9-5: Screen overview Screen Name Overview Force sense control <Detection mode> top screen The screen changes by pressing the [FUNCTION] key. Detection mode is enabled when changing from the JOG operation screen. •...
  • Page 141 9 Using the Force Sense Function (Teaching) Screen Name Overview Force detection setting value screen Screen Display Meaning "Fx" - "Mz" Displays the current force detection setting value specified with the control characteristics. Function Description [F4] Close Changes to the force sense control top screen. Conditions setting screen Screen Display...
  • Page 142 9 Using the Force Sense Function (Teaching) Screen Name Overview Cancel confirmation screen Function Description Cancels the force sensor offset component. If the sensor data is not 0 with no external force acting on the sensor, it is necessary to perform offset cancel. [F1] Yes (* Operation rights required.) An error occurs when force sense control is enabled and the servo is...

  • Page 143: Application Examples

    10 Application Examples 10 Application Examples Part Assembly Work (Force Control)  Operation details Assembles parts so that no unnecessary force acts on the parts when following the part fitting shape. The robot is controlled using force control so that the force acting in the X- and Y- directions is 0.0 N. ...

  • Page 144: Application Examples

    10 Application Examples ■Description With force control, the robot is set to push with a force of 0.0 N in the X- and Y-directions, and 5.0 N in the Z-direction. Furthermore, if the reaction force in the Z-direction is less than 4 N, the robot moves at a speed of 10 mm/s in speed priority mode.
  • Page 145 10 Application Examples Phase Focusing Push  Operation details The robot inserts into a metal axis while searching for a d-cut gear phase. The robot rotates in the C-axis direction while pushing softly in the Z-direction with robot stiffness softened ...
  • Page 146 10 Application Examples  Description The robot is set to control the X-, Y-, Z-, and C-axes softly with stiffness control. The force detection setting value is Mz = 0.05 N·m. Force control is enabled, and the robot moves to a position approximately 1 mm below of the insertion start position.

  • Page 147: Language Specifications

    11 Language Specifications 11 Language Specifications This Chapter describes specifications for force sense control function related to MELFA-BASIC V commands and status variables.  Precautions when using status variables  By directly referencing P variable A-, B-, and C-axis values as component data, they are read as radian unit values.
  • Page 148 11 Language Specifications Fsc On [Function] Enables the force sense control function using force sensor. [Syntax] FscOn <Control mode>, <Control characteristics >, <Offset cancel designation> [Terminology] <Control mode> Specifies the force sense control mode No. (See section 8.1.2 Setting range: -1 - 9 Table 11-2 Control mode setting items and corresponding values Control Mode Setting Item...
  • Page 149 11 Language Specifications [Description] (1) Enables the force sense control function using force sensor. (Default: Disabled) (2) The force sense control content is specified with the "control mode" and "control characteristics " condition Nos. set beforehand. (3) If the force sensor is not connected and this command is executed, error L3986 occurs. (4) This command cannot be executed when the force sense control function is enabled (error L3987 occurs.) If changing the "control mode"...
  • Page 150 11 Language Specifications (15) The force sense control function and functions listed in Table 11-4 cannot be used at the same time. Table 11-4 Behavior with simultaneous used with force sense control function Function Behavior with Simultaneous Use Error Compliance control Priority is given to the function enabled first.
  • Page 151 11 Language Specifications Fsc Off [Function] Disables the force sense control function using force sensor. [Syntax] FscOff [Example] Refer to examples in section 11.9 [Description] (1) Disables the force sense control function using force sensor. (2) If the force sensor is not connected, no processing is performed when this command is executed. (3) Similarly, no processing is performed when this command is executed while the force sense control function is disabled.
  • Page 152 11 Language Specifications FsGChg (Fs gain change) [Function] Changes control characteristics for force sense control during operation. [Syntax] FsGChg <Change start time>, <Change time>, <Control characteristics group No. after change> [Terminology] <Change start time> Specifies the position at which the control characteristics setting change is started. This is specified with an interrupt during the next interpolation command start point and end point.
  • Page 153 11 Language Specifications FcCTrg (FsC trigger) [Function] Sets force sense control characteristics switching with the Mo trigger. [Syntax] FsCtrg <Trigger No.>, <Change time>, <Control characteristics group No. after change> [, <Timeout>，<Execution method> [, <Error specification>]] [Terminology] <Trigger No.> Specifies the Mo trigger No. used to change the control characteristics with a constant. Setting range: 1 - 3 <Change time>...
  • Page 154 11 Language Specifications control characteristics change is not completed within the specified time. (Error L.3987) (8) If program execution is interrupted, the timeout processing count up is also interrupted. If program execution is resumed, the timeout processing count up is also resumed. (9) If program execution is interrupted, the timeout processing count up is also interrupted.

  • Page 155: Status Variables Relating To Force Sense Control Function

    11 Language Specifications 11.2 Status Variables Relating to Force Sense Control Function This section describes MELFA-BASIC V status variables relating to the force sense control function. Table 11-5 Force sense control status variables Status Variable Function Overview M_FsCod0, Specifies/references the force sense control coordinate M_FsCod1 system.
  • Page 156 11 Language Specifications M_FsCod0, M_FsCod1 [Function] Specifies/references the force sense control coordinate system. [Syntax] Example) M_FsCod0=<Numeric variable 1> Example) <Numeric variable 2>=M_FsCod1 [Terminology] <Numeric variable 1> Specifies the force sense control coordinate system. Setting Mode Coordinate system (Tool) Coordinate system (XYZ) <Numeric variable 2>...
  • Page 157 11 Language Specifications P_FsMod0, P_FsMod1 [Function] Specifies/references the force sense control mode for each axis. [Syntax] Example) P_FsMod0=<Position variable 1> Example) <Position variable 2>=P_FsMod1 [Terminology] <Position variable 1> Specifies the force sense control mode for each axis. Setting Mode Position control Force control Stiffness control Limited stiffness control...
  • Page 158 11 Language Specifications P_FsStf0, P_FsStf1 [Function] Specifies/references the stiffness coefficient for force sense control (stiffness control). [Syntax] Example) P_FsStf0=<Position variable 1> Example) <Position variable 2>=P_FsStf1 [Terminology] <Position variable 1> Specifies the stiffness coefficient for force sense control (stiffness control). (The L1- and L2-axis components do not use this variable.) Component Setting Range Unit...
  • Page 159 11 Language Specifications P_FsDmp0, P_FsDmp1 [Function] Specifies/references the damping coefficient (responsiveness) for force sense control (stiffness control/force control). [Syntax] Example) P_FsDmp0=<Position variable 1> Example) <Position variable 2>=P_FsDmp1 [Terminology] <Position variable 1> Specifies the damping coefficient for force sense control. (The L1- and L2-axis components do not use this variable.) Component Setting Range Unit...
  • Page 160 11 Language Specifications P_FsFCd0, P_FsFCd1 [Function] Specifies/references the force command value for force sense control (force control) or the limit value for the force control (limited stiffness control). [Syntax] Example) P_FsFCd0=<Position variable 1> Example) <Position variable 2>=P_FsFCd1 [Terminology] <Position variable 1> Specifies the force command value for force sense control (force control) or force sense control (limited stiffness control).
  • Page 161 11 Language Specifications P_FsSpd0, P_FsSpd1 [Function] Specifies/references the speed command value for force sense control (force control). [Syntax] Example) P_FsSpd0=<Position variable 1> Example) <Position variable 2>=P_FsSpd1 [Terminology] <Position variable 1> Specifies the speed command value for force sense control (force control). (The L1- and L2-axis components do not use this variable.) Component Setting Range...
  • Page 162 11 Language Specifications P_FsSwF0, P_FsSwF1 [Function] Specifies/references the force priority mode/speed priority mode switching judgment value for the force sense function (force control). [Syntax] Example) P_FsSwF0=<Position variable 1> Example) <Position variable 2>=P_FsSwF0 [Terminology] <Position variable 1> Specifies the force control mode/speed control mode switching judgment value for force sense control (force control).
  • Page 163 11 Language Specifications P_FsGn0, P_FsGn1 [Function] Specifies/references the force sense control gain (responsiveness) for the force sense function. [Syntax] Example) P_FsGn0=<Position variable 1> Example) <Position variable 2>=P_FsGn1 [Terminology] <Position variable 1> Specifies the force sense control gain for force sense control. (The L1- and L2-axis components do not use this variable.) Component Setting Range...
  • Page 164 11 Language Specifications P_FsFLm0, P_FsFLm1 [Function] Specifies/references the force sensor force detection setting value for the force sense function. [Syntax] Example) P_FsFLm0=<Position variable 1> Example) <Position variable 2>=P_FsFLm1 [Terminology] <Position variable 1> Specifies the force sensor force detection setting value. (The L1- and L2-axis components do not use this variable.) Component Setting Range...

  • Page 165: Commands Relating To Force Sense Detection Function

    11 Language Specifications 11.3 Commands Relating to Force Sense Detection Function This section describes MELFA-BASIC V commands relating to the force sense detection function (Mo trigger function). Table 11-6 Mo trigger commands Command Function Overview Def MoTrg Defines trigger conditions (Mo trigger) that reference position commands and the FB position, as well as force sensor data and so on.
  • Page 166 11 Language Specifications [Example] 1 Def MoTrg 1, ((P_Fbc.Z <= 100) Or (P_FsCurD.Z >= 10)) And (P_FsCurP.C < -45DEG) ' Defines the ON trigger as Mo trigger No.1 by satisfying the following conditions (1) and (2). ' (1) FB position Z-axis value is 100 mm or less, or Z-axis direction force sensor data is 10 N or greater.
  • Page 167 11 Language Specifications SetMoTrg (Set Mo trigger) [Function] Enables/disables trigger conditions (Mo trigger) that reference position commands and the FB position, as well as force sensor data and so on. [Syntax] SetMoTrg <Trigger No.> [Terminology] <Trigger No.> Specifies the trigger No. for the Mo trigger to be enabled with a constant. If 0 is specified, the Mo.

  • Page 168: Status Variables Relating Force Sense Detection Function

    11 Language Specifications 11.4 Status Variables Relating Force Sense Detection Function This section describes MELFA-BASIC V status variables relating to the force sense detection function. Table 11-7 Force sensor function related status variables Status Function Overview Class Variable M_MoTrg Checks the Mo trigger enabled/disabled status and the Mo trigger trigger ON/OFF status while enabled.
  • Page 169 11 Language Specifications M_MoTrg [Function] Checks the Mo trigger enabled/disabled status and the trigger ON/OFF status while enabled. [Syntax] Example) <Numerical variable>= M_MoTrg (<Trigger No.>) [Terminology] <Trigger No.> Specifies the Mo trigger No. being checked with a constant. Setting range: 1 - 3 <Numerical variable>...
  • Page 170 11 Language Specifications M_FsLmtS [Function] Checks whether the force sensor data force detection setting value has been exceeded. [Syntax] Example) <Numerical variable>= M_FsLmtS [Terminology] <Numerical variable> Specifies the read numerical variable for determining whether the force detection setting value has been exceeded.
  • Page 171 11 Language Specifications P_FsLmtR [Function] Checks the status of the current force sensor data with respect to the force sensor data force detection setting value. [Syntax] Example) <Position variable>= P_FsLmtR [Terminology] <Position variable> Specifies the substitute position variable. [Example] Refer to examples in section 11.9 [Description] (1) Displays where the current force sensor data lies in the status shown in the following diagram with respect...
  • Page 172 11 Language Specifications P_FsLmtX [Function] Checks/resets axes for which the force sensor data force detection setting value is exceeded. [Syntax] Example) <Position variable>= P_FsLmtX Example) P_FsLmtX =<Position variable> [Terminology] <Position variable> Specifies the substitute position variable. [Example] Refer to examples in section 11.9 [Description] (1) Displays whether the force sensor data's absolute value has exceeded the force detection setting value.
  • Page 173 11 Language Specifications P_FsLmtP [Function] Checks/resets the robot FB position when the force sensor data force detection setting value is exceeded. [Syntax] Example) <Position variable>= P_FsLmtP Example) P_FsLmtP =<Position variable> [Terminology] <Position variable> Specifies the substitute position variable. [Example] Refer to examples in section 11.9 [Description] (1) Checks robot position feedback when the force sensor data's absolute value exceeds the force detection...
  • Page 174 11 Language Specifications P_FsLmtD [Function] Checks/resets the force sensor data when the force sensor data force detection setting value is exceeded. [Syntax] Example) <Position variable>= P_FsLmtD Example) P_FsLmtD =<Position variable> [Terminology] <Position variable> Specifies the substitute position variable. [Example] 300 If P_FsLmtX.X=1 Then P_FsFLmt.X=P_FsLmtD.X * 0.8 'If X-direction sensor data exceeds the force detection setting value: '80% of the exceeded value is set as the new force detection setting value.
  • Page 175 11 Language Specifications P_FsMaxD [Function] Checks/resets the force sensor maximum data value during force sense control. [Syntax] Example) <Position variable>= P_FsMaxD Example) P_FsMaxD =<Position variable> [Terminology] <Position variable> Specifies the substitute position variable. [Example] 1000 P1=P_FsMaxD 'In P1, retains maximum force sensor data value up to this point. 1010 P_FsMaxD=P1 'Resets the maximum value.
  • Page 176 11 Language Specifications P_FsCurD [Function] Checks the current force sensor data. [Syntax] Example) <Position variable>= P_FsCurD [Terminology] <Position variable> Specifies the substitute position variable. [Example] 100 Def Act 1, P_FsCurD.Z > 10 GoTo *INTR1, S 'If the Z-direction sensor data exceeds 10 N, an interrupt used to perform interrupt processing *INTR1 is defined.
  • Page 177 11 Language Specifications P_FsCurP [Function] Checks the position (force sense position command) offset with force sense control. (Force sense position command = Position command calculated with movement command, etc. + position offset with force sense control) [Syntax] Example) <Position variable>= P_FsCurP [Terminology] <Position variable>...
  • Page 178 11 Language Specifications M_FsRsltF [Function] Checks the current force sensor resultant force (Fx, Fy, Fz). [Syntax] Example) <Position variable>= M_FsRsltF [Terminology] <Position variable> Specifies the substitute position variable. [Example] 1 *L1 : If M_FsRsltF < 10 Then GoTo *L1 ' If the force sensor resultant force is less than 10[N], repeat this step. 2 M_Out(100) = 1 ' If the force sensor resultant force is more than 10[N], turn the output signal 100 ON.
  • Page 179 11 Language Specifications M_FsRsltM [Function] Checks the current force sensor resultant moment (Fx, Fy, Fz). [Syntax] Example) <Position variable>= M_FsRsltM [Terminology] <Position variable> Specifies the substitute position variable. [Example] 1 *L1 : If M_FsRsltM < 1 Then GoTo *L1 ' If the force sensor resultant moment is less than 1[Nm], repeat this step. 2 M_Out(100) = 1 ' If the force sensor resultant moment is more than 1[Nm], turn the output signal 100 ON.
  • Page 180 11 Language Specifications M_FsCSts [Function] Checks the force sense control enabled/disabled status. [Syntax] Example) <Numerical variable>= M_FsCSts [Terminology] <Numerical variable> Specifies the substitute numerical variable. (1: Force sense control enabled, 0: Force sense control disabled) [Example] 2000 If M_FsCSts=1 Then Fsc Off 'Disables force sense control if enabled.

  • Page 181: Commands Relating To Force Sense Log Function

    11 Language Specifications 11.5 Commands Relating to Force Sense Log Function This section describes MELFA-BASIC V status variables relating to the log function. Table 11-8: Log function commands Command Function Overview FsLog On Starts force sensor data and position command, position FB, and current FB value logging.
  • Page 182 11 Language Specifications FsLog Off [Function] Ends force sensor data and position command, position FB, and current FB value logging. [Syntax] FsLogOff <Log File No.> [Terminology] <Log File No.> Specifies the log file No. containing collected data. Setting range: 1 to 999999999 [Example] Refer to examples in section 11.9...
  • Page 183 11 Language Specifications FsOutLog [Function] Transfers logged data to the FTP server. [Syntax] FsOutLog <Log File No.> [Terminology] <<Log File No.> Specifies the No. of the log file from which collected data is to be read. Setting range: 1 to 999999999 [Example] Refer to examples in section 11.9...

  • Page 184: Related Commands For Gravity Offset Cancel Function

    11 Language Specifications 11.6 Related Commands for Gravity Offset Cancel Function MELFA-BASIC V commands relating to the gravity offset cancel function are described below. Table 11-9 Gravity offset cancel commands Command Function Overview FsHndEst On Starts the process of the force sensor calibration. FsHndEst Off Estimates the force sensor calibration result and finishes the process.
  • Page 185 11 Language Specifications FsHndEst Off [Function] Estimates the data (bias value, center of gravity position and mass of the load) required for the gravity offset cancel and finishes the process. [Syntax] FsHndEstOff [Example] 1 FsHndEst On, 1 ' Starts the data acquisition for the gravity offset cancel. 2 For M1=1 To 9 Step 1 ' Repeats 9 times.
  • Page 186 11 Language Specifications FsGetDat [Function] Acquires the data (robot's position posture and force sensor data) required for the force sense calibration and stores it in a parameter. [Syntax] FsGetDat<Data No.> [Terminology] <Data No.> Specifies the parameter number to store the data acquired. The argument value corresponding to the number of the parameter from "FSEST01"...

  • Page 187: Related Status Variables For Gravity Offset Cancel Function

    11 Language Specifications 11.7 Related Status Variables for Gravity Offset Cancel Function MELFA-BASIC V status variables relating to the gravity offset cancel function are described below. Table 11-10 Gravity offset cancel status variables Status variables Function Overview P_FsBias0, Specifies/references the bias value used for the gravity Control mode P_FsBias1 offset cancel.
  • Page 188 11 Language Specifications P_FsBias0, P_FsBias1 [Function] Specifies/references the bias value used for the gravity offset cancel. [Syntax] Example) P_FsBias0= <Position variable 1> Example) <Position variable 2>= P_FsBias1 [Terminology] < Position variable 1> Specifies the bias value used for the gravity offset cancel. <...
  • Page 189 11 Language Specifications P_FsGrPos0, P_FsGrPos1 [Function] Specifies/references the load center of gravity position used for the gravity offset cancel. [Syntax] Example) P_FsGrPos0= <Position variable 1> Example) <Position variable 2>= P_FsGrPos1 [Terminology] < Position variable 1> Specifies the load center of gravity position used for the gravity offset cancel. <...
  • Page 190 11 Language Specifications M_FsMass0, <_FsMass1 [Function] Specifies/references the load mass used for the gravity offset cancel. [Syntax] Example) M_FsMass0= <Numeric variable 1> Example) < Numeric variable 2>= M_FsMass1 [Terminology] < Position variable 1> Specifies the load mass used for the gravity offset cancel. <...

  • Page 191: Other Related Commands

    11 Language Specifications 11.8 Other Related Commands Def Act [Function] Defines the interrupt conditions and processing for interrupt processing. Interrupts are used when input signals and so on are monitored while running programs to prioritize certain processing when the specified conditions are reached * "F"...
  • Page 192 11 Language Specifications * Additional axes decelerate to a stop in the same manner as that for Stop type 2 (S), regardless of whether force sense control is enabled or disabled. * If stopped with a Force sense stop (F), force sense control is disabled (including servo OFF), or position offset with force sense control is fixed at the stopped status until the interrupt is prohibited with "Act <Priority No.>=0".
  • Page 193 11 Language Specifications (20) It is not possible to describe a condition format combined with a log operator such as in (M1 And &H001) = (21) If an interrupt is entered while performing perfect circle interpolation or circular interpolation (Mvc, Mvr, Mvr2, Mvr3) and control is returned to the original step with Return 0, the robot returns to the perfect circle or circular interpolation start point before once again performing circular or arc interpolation.
  • Page 194 11 Language Specifications Conceptual drawings of each stop type for the execution program when interrupt conditions are established during robot movement are shown below. Stop Type External Override 100% (Max. Speed) External Override 50% Stop type 1 Speed Speed Interrupt (Omission) S1 = S2 Interrupt...

  • Page 195: Examples

    11 Language Specifications 11.9 Examples Several force sense control program examples are shown below.  Example 1 〈Sample Program FB01.prg〉 The robot searches for the target object while moving in the Y-axis direction. When the object is found, the robot moves in the X-axis direction while applying a constant force in the target object Y-direction.
  • Page 196 11 Language Specifications  Example 2 〈Sample Program FB02.prg〉 Performs the insertion movement in the Z-axis direction with the X/Y-direction softened. An error occurs and movement is interrupted if a force greater than the specified value is applied when inserting. User error elicited at 10 N.
  • Page 197 11 Language Specifications  Example 3 〈Sample Program FB03.prg〉 Searches for open holes on the XY plane. If a hole is found, the XY coordinates for the holes center position are calculated. Robot moves in XY-direction and calculates center position from contact position.
  • Page 198 11 Language Specifications PX(1)=P0 PX(2)=P0 PY(1)=P0 PY(2)=P0 PX(1).X=P0.X+10 'The position ±10 mm in the XY-direction from the reference position is calculated. PX(2).X=P0.X-10 PY(1).Y=P0.Y+10 PY(2).Y=P0.Y-10 Fsc Off P_FsFLm0=(+2.00,+2.00,+5.00,+5.00,+5.00,+5.00)(0,0) 'Changes the X,Y-axis direction force detection setting value to 2 [N]. Fsc On,0,0,1 MFLG=0 For M1=1 To 2 Mvs PX(M1) WthIf P_FsLmtR.X=1,Skip 'Moves ±10 mm in the X-axis direction and skips if the force detection setting is exceeded.
  • Page 199 11 Language Specifications  Example 4 〈Sample Program FB04.prg〉 The robot moves at the specified speed in the Z-direction to make contact with the target object. If the Z-axis direction robot position and force sensor data satisfy the specified conditions following contact, the robot starts moving in the Y-axis direction while pushing in the Z-axis direction.

  • Page 200: Parameter Specifications

    12 Parameter Specifications 12 Parameter Specifications This Chapter describes parameters relating to the force sense function. 12.1 Force Sense Function Related Parameter List Table 12-1 Force sense control related parameters Parameter No. of Factory Default Parameter Description Name Elements Setting Force sense AXJNO 16 integers...
  • Page 201 12 Parameter Specifications Parameter No. of Factory Default Parameter Description Name Elements Setting Force sensor FSMINCTL 6 real Sets the minimum force controlfor the force sensor. 0.3, 0.3, 0.3, minimum number 0.03, 0.03, 0.03 force control 1st element: Minimum force control setting value for force sensor Fx [N] 2nd element: Minimum force control setting value for force sensor Fy [N]...
  • Page 202 12 Parameter Specifications Parameter No. of Factory Default Parameter Description Name Elements Setting Control mode FSBIAS01- 6 real Sets the bias value used for gravity offset cancel. 0.0, 0.0, 0.0, numbers 0.0, 0.0, 0.0 1st element: Force sensor data Fx bias value [N] 2nd element: Force sensor data Fy bias value [N] 3rd element: Force sensor data Fz bias value [N] 4th element: Force sensor data Mx bias value [N·m]...
  • Page 203 12 Parameter Specifications Parameter No. of Factory Default Parameter Description Name Elements Setting Control FSSWF01 8 real Sets the mode switching judgment value for force sense 0.0, 0.0, 0.0, characteristic - 09 numbers control (force control). (See section 8.1.2.8 .) 0.0, 0.0, 0.0, [Setting range]: - force sensor tolerance value to +...

  • Page 204: Rt Toolbox2 Force Sense Function Parameter Setting Screen

    12 Parameter Specifications 12.2 RT ToolBox2 Force Sense Function Parameter Setting Screen (1) Force sensor settings This screen is used to set the force sense control function default parameters. It is necessary to reboot the controller after setting parameters. Fig. 12-1: Force sensor setting screen (2) Force control mode This screen is used to set the control mode for force sense control.
  • Page 205 12 Parameter Specifications (3) Force control characteristics This screen is used to set the control characteristics for force sense control. Parameter settings are updated immediately, and therefore there is no need to reboot the controller. [Force condition] tab [Speed condition] tab Fig.
  • Page 206 12 Parameter Specifications (4) Force log setting This screen is used to set parameters for the force sense log function. It is necessary to reboot the controller after writing parameters. Fig. 12-4: Force log setting screen 12-194 RT ToolBox2 Force Sense Function Parameter Setting Screen...

  • Page 207: R56Tb/R57Tb Force Sense Function Parameter Setting Screen

    12 Parameter Specifications 12.3 R56TB/R57TB Force Sense Function Parameter Setting Screen (1) Initial settings This screen is used to set the force sense control function default parameters. It is necessary to reboot the controller after setting parameters. Fig. 12-5: Force sense control Initial setting screen (2) Force control mode This screen is used to set the control mode for force sense control.
  • Page 208 12 Parameter Specifications (3) Force control characteristics This screen is used to set the control characteristics for force sense control. Parameter settings are updated immediately, and therefore there is no need to reboot the controller. [Mode switch judgment/Speed reference] button [Gain/Instruction/Detection] button Fig.
  • Page 209 12 Parameter Specifications (4) Force log setting This screen is used to set parameters for the force sense log function. It is necessary to reboot the controller after writing parameters. Fig. 12-8: Force log setting screen R56TB/R57TB Force Sense Function Parameter Setting Screen 12-197...

  • Page 210: Troubleshooting

    13 Troubleshooting 13 Troubleshooting 13.1 Behavior when Force Sense Control Errors Occur If any of the following types of error occurs, force sense control is disabled and the servo turns OFF. Table 13-1: Behavior when force sense control error occurs Error Type Error Details...
  • Page 211 13 Troubleshooting Table 13-2 Error List Error No. Error Details L_1864_00000 The FTP communication parameters are incorrect. L_2750_01000 Unable to disable force sense control while tracking. H_2760_00000 The force sense control offset value was approaching the limit value. () H_2770_00000 The force sense control offset position is outside the movement range.

  • Page 212: Force Control Function Related Error Details

    13 Troubleshooting 13.3 Force Control Function Related Error Details (The power must be reset for errors with * in the Error No. "First 4 Digits" field.) Error No. First 4 Last 5 Error Cause and Remedy Digits Digits L1864 00000 Err.
  • Page 213 13 Troubleshooting Error No. Error Cause and Remedy First 4 Last 5 Digits Digits L.3870 22000 Err. message The mechanical No. specified with the Def MoTrg command is an invalid value. Cause The mechanical No. specified with the Def MoTrg command is an invalid value.
  • Page 214 13 Troubleshooting Error No. Error Cause and Remedy First 4 Last 5 Digits Digits L.3986 14n00 Err. message Disable force sense control. n=Mech. Cause JOG operation cannot be performed on your model while the force sense control function is enabled. Remedy Disable the force sense control function.
  • Page 215 13 Troubleshooting Error No. Error Cause and Remedy First 4 Last 5 Digits Digits Remedy Execute the FsLog On command after log data recording is complete. L.3987 26n00 Err. Force sense control is enabled. n=Mech. message Cause The parameter setting is currently being used by the force sense control function and so cannot be changed.
  • Page 216 13 Troubleshooting Error No. Error Cause and Remedy First 4 Last 5 Digits Digits Remedy Check the force sense I/F unit wiring and whether the power supply is H.7652 00n00 Err. Force sense I/F unit revision illegal n=Mech. message Cause This force sense I/F unit revision is not supported.
  • Page 217 13 Troubleshooting Table 13-3: Force sense interface unit errors Error No. (Name) Cause Remedy Force sense interface unit internal part fault Replace the unit. 12 (memory error) 13 (S/W processing error) 21 (sensor initial (1) The force sensor connection cable is (1) Connect the cable.

  • Page 218: Q & A

    13 Troubleshooting 13.4 Q & A Cause Measures The robot vibrates Force sense control gain is high. Decrease the force sense control gain. during the force (section 8.1.2.9 sense control. The response sensitivity of the sensor Increase the filter time constant of the force is high.

  • Page 219: Appendix

    14 Appendix 14 Appendix 14.1 Control Status Transition Force sense control has the following 4 statuses. Status Description Force sense This is the force sense control disabled status. This is the status when the power is turned status disabled In this status, force sense control is enabled and the robot position is being offset based on Offsetting the "control mode"...
  • Page 220 14 Appendix Force sense control enabled • Stop input/emergency stop input • Error (H level/L level) • Operation interrupted • Fsc ON command • Enabling of force sense with T/B Offsetting Offsetting stopped Power ON Force sense control disabled • Start point input •...
  • Page 222 Nov., 2018 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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