Mitsubishi Electric 4F-FS001-W200 User manual

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

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.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

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. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

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. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR750-Q/CR751-Q controller. Failure to
observe this may result in property damage or bodily injury because the Handy GOT
can automatically operate the robot regardless of whether the operation rights are
enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

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. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the safety of the robot system against unauthorized access from external
devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.

■Revision History
Print Date
Instruction Manual
No.
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.
• Table 3-2: Force sense function specifications was modified
and corrected.
• Force sense interface unit outline drawings were changed.
• Power supply specifications of the 24 VDC power supply was
added.
• The figures of the 24 VDC output cable and the 24 VDC input
cable were changed.
• Force sensor set 4F-FS001-W1000 was added.
• Figures in “6.1 Force Sense Unit <-> Robot Controller were
modified.
• “6.4 Warm-up operation” was added.
• The parameters were added. (FSMINCTL, FSLOFST)
•”13.4 Q&A” was added
• “1.3 Select the Force Sensor” was added.
• Force sensor calibration function was added.
• Monitoring function for the resultant force and resultant
moment.
• Limited stiffness control function was added.
• Section 5.5 was added.
2018-11-30
BFP-A8947-C
• Description of countermeasures against unauthorized access
was added.
• A spare fuse was added to the product configuration.
• Contact information of the authorized representative was
updated.

■ 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.
Always read over this manual to gain a sufficient understanding of its content before using the "force sense
function".
Please note that this instruction manual assumes that operators have an understanding of basic Mitsubishi
Electric industrial robot operation and functionality. Refer to the separate "Instruction Manual, Detailed
Explanations of Functions and Operations" for information on basic operation.
■ Notation used in this manual
Notice
*ONLY QUALIFIED SERVICE PERSONNEL MAY INSTALL OR SERVICE THE ROBOT SYSTEM.
*ANY PERSON WHO PROGRAM, TEACHES, OPERATE, MAINTENANCE OR REPAIRS THE ROBOT
SYSTEM IS TRAINED AND DEMONSTRATES COMPETENCE TO SAFELY PERFORM THE
ASSIGNED TASK.
*ENSURE COMPLIANCE WITH ALL LOCAL AND NATIONAL SAFETY AND ELECTRICAL CODES
FOR THE INSTALLATION AND OPERATION OF THE ROBOT SYSTEM.
・
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・The details of this manual are subject to change without notice.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or unclear
points are found, please contact your dealer.
・The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・This specifications is original.
Copyright(C) 2012-2016MITSUBISHI ELECTRIC CORPORATION

[CONTENTS]
1 Using This Manual.................................................................................................................................. 1-1
1.1 Using This Manual ..................................................................................................................................... 1-1
1.2 Terminology Used in This Instruction Manual ............................................................................................ 1-2
1.3 Select the Force Sensor ............................................................................................................................ 1-3
2Work Flow .............................................................................................................................................. 2-5
2.1 Flowchart.................................................................................................................................................... 2-5
3 Force Sense Function System Specifications......................................................................................... 3-6
3.1 What is the Force Sense Function?........................................................................................................... 3-6
3.2 System Configuration................................................................................................................................. 3-7
3.3 Force Sense Function Specifications......................................................................................................... 3-8
3.4 Force Sense Interface Unit Specifications............................................................................................... 3-10
3.4.1 Force Sense Interface Unit External Dimensions .............................................................................. 3-10
3.4.2 Name of Each Force Sense Interface Unit Part ..................................................................................3-11
3.4.3 Force Sensor Connection Cable .........................................................................................................3-11
3.5 24 VDC Power Supply Specifications...................................................................................................... 3-12
3.5.1 24 VDC Power Supply Outline Drawing............................................................................................. 3-12
3.5.2 24 VDC Output Cable......................................................................................................................... 3-13
3.5.3 24 VDC Input Cable............................................................................................................................ 3-13
3.6 Force Sensor Specifications .................................................................................................................... 3-14
3.6.1 Force Sensor External Dimensions.................................................................................................... 3-15
3.6.2 Sensor Attachment Adapter External Dimensions ............................................................................. 3-16
3.7 Coordinate System Definition .................................................................................................................. 3-18
3.7.1 Force Sense Coordinate System (Mechanical Interface)................................................................... 3-19
3.7.2 Force Sense Coordinate System (Tool) ............................................................................................. 3-19
3.7.3 Force Sense Coordinate System (XYZ)............................................................................................. 3-20
3.7.4 Force Sensor Coordinate System ...................................................................................................... 3-21
4Check 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.................................................................................................................................. 5-25
5.2 Sensor Installation.................................................................................................................................... 5-25
5.3 Recommended Attachment Angle............................................................................................................ 5-26
5.4 Securing the force sensor cable .............................................................................................................. 5-27
5.5 Tool installation......................................................................................................................................... 5-28
6Device Connection, Wiring, and Settings ............................................................................................. 6-29
6.1 Force Sense Unit ↔Robot Controller ..................................................................................................... 6-29
6.2 Force Sense Interface Unit ↔Force Sensor........................................................................................... 6-32
6.3 Turning ON the Power ............................................................................................................................. 6-34
6.4 Warm Up Operation ................................................................................................................................. 6-34
6.5 Default Parameter Settings...................................................................................................................... 6-35
6.5.1 Force Sense Interface Unit identification............................................................................................ 6-36
6.5.2 Calibration .......................................................................................................................................... 6-37
6.5.3 Force Sensor Tolerance ..................................................................................................................... 6-40
6.5.4 Force Sensor Control Offset Limit...................................................................................................... 6-41
6.5.5 Force Sensor Data Filter Setting........................................................................................................ 6-41
6.5.6 Force Sensor Minimum Control Force ............................................................................................... 6-41
7 Checking the Connection and Settings ................................................................................................ 7-42
7.1 Checking Force Sensor Data Communication......................................................................................... 7-42
7.1.1 If Using R56TB/R57TB....................................................................................................................... 7-42

7.1.2 If Using R32TB/R33TB....................................................................................................................... 7-43
7.2 Checking the Force Sensor Attachment Coordinate System................................................................... 7-44
8Using 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.................................................................................................................. 8-59
8.1.4 Control characteristics Change Commands....................................................................................... 8-60
8.1.5 Usage Example (Force Sense Control).............................................................................................. 8-62
8.2 Force Sense Detection ............................................................................................................................ 8-71
8.2.1 Mo Trigger .......................................................................................................................................... 8-72
8.2.2 Force Detection Status ....................................................................................................................... 8-75
8.2.3 Data Latch .......................................................................................................................................... 8-75
8.2.4 Data Referencing................................................................................................................................ 8-75
8.2.5 Usage Example (Force Sense Detection).......................................................................................... 8-76
8.3 Force Sense log....................................................................................................................................... 8-81
8.3.1 Force Sense Log Function Specifications .......................................................................................... 8-81
8.3.2 Parameter Settings............................................................................................................................. 8-83
8.3.3 Force Sense Log Data Acquisition ..................................................................................................... 8-84
8.3.4 Force Sense Log Data Display (RT ToolBox2)................................................................................... 8-85
8.3.5 Force Sense Log File FTP Transfer ................................................................................................... 8-90
8.3.6 Usage Example (Force Sense Log) ................................................................................................... 8-91
8.4 Gravity Offset Cancel Function ................................................................................................................ 8-94
8.4.1 Estimated data.................................................................................................................................... 8-94
8.4.2 About Calibration Posture................................................................................................................... 8-94
8.4.3 Calibration Procedure......................................................................................................................... 8-95
8.4.4 Usage Example (Force Sensor Calibration)..................................................................................... 8-102
9Using the Force Sense Function (Teaching)....................................................................................... 9-104
9.1 Force Sense T/B .................................................................................................................................... 9-105
9.1.1 Force Sense Control (T/B) ............................................................................................................... 9-105
9.1.2 Force Sense Monitor ........................................................................................................................ 9-109
9.1.3 Contact Detection..............................................................................................................................9-110
9.1.4 Usage Example (Force Sense Function T/B)....................................................................................9-111
9.2 Teaching Operation.................................................................................................................................9-115
9.2.1 Teaching Position Precautions ..........................................................................................................9-115
9.2.2 Usage Example (Teaching Operation) ..............................................................................................9-119
9.3 Force Sense Function Screen ............................................................................................................... 9-124
9.3.1 R56TB/R57TB .................................................................................................................................. 9-124
9.3.2 R32TB/R33TB .................................................................................................................................. 9-127
10 Application Examples ..................................................................................................................... 10-131
11 Language Specifications..................................................................................................................11-135
11.1 Commands Relating to Force Sense Control Function.......................................................................11-135
11.2 Status Variables Relating to Force Sense Control Function ...............................................................11-143
11.3 Commands Relating to Force Sense Detection Function...................................................................11-153
11.4 Status Variables Relating Force Sense Detection Function................................................................11-156
11.5 Commands Relating to Force Sense Log Function ............................................................................11-169
11.6 Related Commands for Gravity Offset Cancel Function .....................................................................11-172
11.7 Related Status Variables for Gravity Offset Cancel Function..............................................................11-175
11.8 Other Related Commands ..................................................................................................................11-179
11.9 Examples.............................................................................................................................................11-183
12 Parameter Specifications................................................................................................................ 12-188
12.1 Force Sense Function Related Parameter List.................................................................................. 12-188
12.2 RT ToolBox2 Force Sense Function Parameter Setting Screen........................................................ 12-192
12.3 R56TB/R57TB Force Sense Function Parameter Setting Screen..................................................... 12-195

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.................................................................................................................... 14-207

1 Using This Manual
Using This Manual 1-1
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.
Table 1-1: Instruction Manual content
Chapter
Title
Content
1
Using This Manual
Describes the makeup of this manual.
2Work Flow
Describes the work required to construct a system
employing a force sensor. Carry out the work as described.
3
Force Sense Function
System Specifications
Describes the force sense function system specifications.
4Check Before Use
Describes the product configuration and devices to be
prepared. Check whether all the required products are
present, and check the controller, T/B, and RT-ToolBox2
versions.
5 Force Sensor
Attachment
Describes how to attach the force sensor to the robot. Pay
heed to the precautions when using the robot with sensor
attached.
6
Device Connection,
Wiring, and Settings
Describes how to connect the respective devices.
7 Checking the
Connection and Settings
Describes how to check that the sensor has been properly
attached, that devices have been properly connected, and
that all settings have been specified correctly. Always check
these items before using the force sense function.
8
Using the Force Sense
Function
(Programming)
Describes how to use (programming method) the force
sense function.
9
Using the Force Sense
Function
(Teaching)
Describes how to use (teaching method) the force sense
function.
10 Application Examples
Describes application examples using the force sense
function.
11 Language Specifications
Describes detailed MELFA-BASIC language specifications
relating to the force sense function.
12
Parameter
Specifications
Describes detailed parameter specifications relating to the
force sense function.
13 Troubleshooting
Describes the details of and remedies for errors relating to
the force sense function.

1 Using This Manual
1-2Terminology Used in This Instruction 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.
Force sense control
This function uses real-time information from the force sense function to
control robot softness and the amount of force applied to workpieces.
Force sense detection
This function detects force sensor information, performs interrupt
processing, and retains force sense data and robot position data when
interrupts occur.
Force sense log
This function obtains and displays force sensor and robot position
information.
Force control
This is a control method used to control robot force. Controls robot force
while offsetting position in order to obtain the specified reaction force. This
is used when pushing with constant force.
Stiffness control/limited
stiffness control
This is a robot control method used to control robot stiffness. Controls the
robot as though there is a spring on the robot hand flange surface. This
method is used for copying around workpieces and assembling flexible
objects.
The limited stiffness control can restrict the force of the robot.
Force sensor
This sensor detects force and moment.
Force sense I/F unit
This unit takes in sensor information obtained from the force sensor and
passes it to the robot controller.

1 Using This Manual
Select the Force Sensor 1-3
1.3 Select the Force Sensor
Selection flow of force sensor is indicated on below. Confirm the selection result here and the force sensor
specification of Chapter 3.6 , and please decide about the force sensor you use.
Select force sensor by application
and robot of Table 1-3
Selected
force sensor
Moment beyond
4Nm is impressed
4F-FS001-W1000
4F-FS001-W200
4F-FS001-W1000
4F-FS001-W200
YES
NO
Moment beyond
4Nm is impressed
4F-FS001-W1000
Please contact
Mitsubishi Electric Corp.
4F-FS001-W200
YES
YES
NO
NO
Start
Tool shape and Hand own
weight by posture change
is also considered.
(Figure 1-2)
Resolution smaller than below is needed.
・Force：Approx. 0.15N(15.3gf)
・Moment：Approx. 0.0046Nm(0.47gfm)
Delicate work and detecting
minute power is needed.
Fig. 1-1: Selection flow of force sensor
Table 1-3: First selection of force sensor
RV-2F RV-4F RV-7F RV-13F RV-20F RH-3F RH-6F RH-12F RH-20F
Close tolerance fit
Phase focusing
Parts assembly
Test(Pressed/Pull-out)
Inset
Deburr/Polishing
Application
Robot
RV-F Series
RH-F Series
4F-FS001-W200
4F-FS001-W1000
4F-FS001-W200
4F-FS001-W1000
or
4F-FS001-W200
(Upward and
downward limited)
4F-FS001-W1000
*1: If you want to use the force sensor with the RV-35/50/70F robot, please contact Mitsubishi Electric Corporation.

1 Using This Manual
1-4Select the Force Sensor
Fig. 1-2: Moment by the tool shape and a posture change
Ｌ3
(m)
Moment around force sensor coordinate origin (Nm)
：
Ｍ
= Ｗ1×Ｌ1×ｇ＋Ｗ2×Ｌ2×ｇ－F×L3
Reactive force
Ｆ(N)
Ｌ
1(m)
Ｌ2(m)
Center of gravity
of the hand
Center of
gravity of the
Workpiece
Tool W
1
(kg)
Workpiece
W2(kg)
Moment around force sensor coordinate
origin (Nm)：
Ｍ
=Ｗ1×sinθ×Ｌ1×ｇ＋Ｗ2×sinθ×Ｌ2×ｇ
*g
：
gravity acceleration (m/sec
2
)
Center of gravity of the hand
Center of gravity of the Workpiece
Tool W1 (kg)
Workpiece W
2
(kg)
Ｌ1(m)
Ｌ
2(m)
If tool shape is like
figure, force sensor
receives moment by
t
ool own weight or
pushing workpiece.θ
θ
When robot changes
posture, force sensor is
received moment by tool
own weight.

2 Work Flow
Flowchart 2-5
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 3 of this manual."
Check the force sense function system configuration and function specifications before carrying out the
following work.
↓
2. Product check..."See Chapter 4 of this manual."
Check the purchased product and prepare the required parts.
↓
3. Force sensor attachment method..."See Chapter 5 of this manual."
Attach the force sensor to the robot.
↓
4. Device connection, wiring, setting methods..."See Chapter 6 of this manual."
Connect the force sense interface unit and force sensor, and set the required default parameter settings.
↓
5. Connection and setting check method..."See Chapter 7 of this manual."
Check whether the connections and settings are correct. Always check connections and settings before using
the force sense function.
↓
6. Using the force sense function..."See Chapters 8 ,9 , and 10 of this manual."
Describes how to use the force sense function. Use the force sense function while referring to the detailed
descriptions in Chapters 11 and 12 .

3Force Sense Function System Specifications
3-6What is the Force Sense Function?
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.
<Main features>
(1) Robots can be controlled softly and operated while copying applicable workpieces.
(2) Robots can be operated while pushing in the desired direction with a fixed amount of force.
(3) Robot softness and contact detection conditions can be changed during movement.
(4) Contact status can be detected and interrupt processing performed.
(5) Position information and force information at the time of contact can be performed.
(6) Force data synchronized with position data can be saved as log data.
(7) Log data can be displayed in a graph using RT ToolBox2.
(8) Log data files can be transferred to an FTP server.

3 Force Sense Function System Specifications
System Configuration 3-7
3.2 System Configuration
The device configuration required to use the force sense function is shown below.
Fig. 3-1: Force sense function system configuration drawing
Force sense interface unit
(2F-TZ561)
Computer
Machine cable
Robot controller
Teaching pendant
(R56/57TB or
R32/33TB)
RT ToolBox2
3D-11C-WINE
3D-12C-WINE
24 VDC output cable
(2F-PWRCBL-01)
(Force sensor
attachment
example)
Robot
Force sensor
(1F-FS001-W200/1F-FS001-W1000)
Serial cable between unit and sensor
(2F-FSCBL1-05)
LAN, USB
24 VDC input power
supply cable
(2F-PWRCBL-02)
SSCNETIII
cable
24 VDC power
supply
(2F-PWR-01)

3Force Sense Function System Specifications
3-8Force Sense Function 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)
Controller
Force
sense
control
Stiffness control
Function used to control robot softly (Sets
stiffness coefficients, damping coefficients.)
Limited stiffness
control
Function used to control robot softly (Sets
stiffness coefficients, damping coefficients.)
This function can restrict the force of the robot.
This function can be
used with controller
version R6h/S6h or
lator.
Force control
This function controls the robot while pushing
with specified force.
Control
characteristics
change
This function changes the control characteristics
of force control and stiffness control during robot
movement.
Force
sense
detection
Interrupt
execution
Interrupt processing can be performed using the
status at the point the specified force and
moment are exceeded.
Data latch
This function obtains the force sensor and robot
position at the time of contact.
Data referencing
This function displays force sensor data and
retains maximum values.
Force
sense
log
Synchronization
data
This function obtains force sensor information
synchronized with position information as log
data.
Start/end triggers
Logging start and end commands can be
specified in the robot program.
FTP transfer
This function transfers obtained log files to an
FTP server.
Gravity offset cancel
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.
This function can be
used with controller
version R6h/S6h or
lator.
Corresponding robot
of this function has
become RV-F series.
R32TB/R33TB
Force sense
control (TB)
Enables/disables force sensor control and sets
control conditions while jogging.
Force sense
monitor
Displays sensor data and the force sense control
setting status.
Teaching position
search
This function searches for the contact position.
R56TB/R57TB
Force sense
control (TB)
Enables/disables force sense control and sets
control conditions while jogging.
Force sense
monitor
Displays sensor data and the force sense control
setting status.
Teaching position
search
This function searches for the contact position.
Parameter setting
screen
Dedicated force sense function parameter setting
screen