Mitsubishi Electric MELFA BFP-A3614 User manual

Mitsubishi Industrial Robot
Robot Seminar Textbook <Force Sensor Application>
BFP-A3614

MELFA Robot Seminar Curriculum <Force Sensor Application>
Day 1 Day 2
Item Time Item Time
Opening greetings
Orientation
Features of the force sensor
1) Specifications and configuration of the
force sensor
Force sensor specifications
Selecting the force sensor set
2) Installing the force sensor (actual
machine operation)
Attaching and installing the sensor
attachment adapter and force sensor
Installing the tool
90 min
7) Force sense function (teaching)
Practice (actual machine operation)
75 min
Break 15 min Break 15 min
3) Device connection and wiring
4) Parameter setting (actual machine
operation)
Force sensor parameter setting
Connection and setting check
Details of force sensor parameter
60 min
8) Force sense function (interrupt
processing)
Practice (actual machine operation)
9) Force sense
Practice (actual machine operation)
75 min
Lunch Lunch
5) Force sense function (programming)
Details of control mode and control
characteristics (actual machine
operation)
Force control
Stiffness control
Control characteristics change
Gravity offset cancel
110
min
10) Application example
Application practice 1 (actual machine
operation)
90 min
Break 20 min Break 20 min
6) Force log
Force log parameters
Force log data acquisition (actual
machine operation)
End 110
min
11) Application example
Application practice 2 (actual machine
operation)
End 90 min

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
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.

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 CR800-R 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.

Revision History
Print Date Instruction
Manual No. Revision content
2018-07-31 BFP-A3614 ·First print

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Introduction................................................................................................................................................................... 1
1. What is the Force Sense Function? ........................................................................................................................ 1
2. Features of the force sense function ....................................................................................................................... 1
3. Main applications..................................................................................................................................................... 1
4. Procedure from selection to automatic operation .................................................................................................... 2
Chapter 1 Force Sensor Specifications and Configuration............................................................................................... 3
1.1 Force Sensor Specifications.................................................................................................................................. 3
(1) Specifications of the force sensor ....................................................................................................................... 3
(2) Force Sensor External Dimensions..................................................................................................................... 4
(3) Sensor Attachment Adapter External Dimensions .............................................................................................. 6
(4) Configuration of the force sensor set .................................................................................................................. 8
1.2 System Configuration ............................................................................................................................................ 9
1.3 Selecting the Force Sensor Set........................................................................................................................... 11
(1) Selection flow .................................................................................................................................................... 11
(2) First selection table ........................................................................................................................................... 12
(3) Moment by the hand shape and posture change .............................................................................................. 13
Chapter 2 Attaching the Force Sensor ........................................................................................................................... 15
2.1 Attaching the Sensor Attachment Adapter........................................................................................................... 15
2.2 Install the Force Sensor....................................................................................................................................... 16
(1) Installing direction ............................................................................................................................................. 16
(2) Fixing method.................................................................................................................................................... 16
(3) Checking the force sensor installation condition ............................................................................................... 17
2.3 Fixing the force sensor cable............................................................................................................................... 17
2.4 Relation Between Parameter Installation Position and Angle (FSXTL) ............................................................... 18
(1) Installation position............................................................................................................................................ 18
(2) Installation angle ............................................................................................................................................... 19
2.5 Tool installation ................................................................................................................................................... 20
Chapter 3 Device Connection and Wiring ...................................................................................................................... 21
3.1 Force Sense Interface Unit ⇔Robot Controller .................................................................................................. 21
(1) FR series........................................................................................................................................................... 21
(2) F series ............................................................................................................................................................. 23
3.2 Force Sense Interface Unit ⇔Force Sensor....................................................................................................... 26
3.3 Power ON/OFF.................................................................................................................................................... 26
(1) When turning the power ON.............................................................................................................................. 26
(2) When turning the power OFF ............................................................................................................................ 26
Chapter 4 Parameter Setting.......................................................................................................................................... 27
4.1 Force Sensor Parameter Setting ......................................................................................................................... 27
(1) Force sensor parameter .................................................................................................................................... 27
(2) Force control mode ........................................................................................................................................... 28
(3) Force control characteristics ............................................................................................................................. 29
4.2 Hand Parameter Setting ...................................................................................................................................... 30
4.3 Connection and Setting Check ............................................................................................................................ 31
(1) Checking the coordinate system ....................................................................................................................... 31
(2) Display the force sensor data (force sense monitor) ......................................................................................... 34
4.4 Details of Force Sensor Parameter ..................................................................................................................... 35
Force sensor parameter list ................................................................................................................................. 35
(1) Robot number (AXMENO), axis number (AXJNO)............................................................................................ 36
(2) Calibration ......................................................................................................................................................... 37
(3) Maximum offset value (FSCORMX) .................................................................................................................. 41
(4) Tolerance value (FSLMTMX) ............................................................................................................................ 41
(5) Filter time constant (FSFLCTL) ......................................................................................................................... 42
(6) Force Sensor Minimum Control Force (FSMINCTL) ......................................................................................... 42
Chapter 5 Force Sense Function (Programming)........................................................................................................... 43
Force sense function list ........................................................................................................................................ 43
5.1 What is Force Sense Control?............................................................................................................................. 44
5.2 Enable/Disable the Force Sense Control ............................................................................................................ 45
(1) Force sense control enable/disable command (FscOn/FscOff) with a program ................................................ 45
(2) Force sense control enable/disable selection with the teaching box ................................................................. 46
5.3 Condition Groups and Condition Numbers .......................................................................................................... 47
(1) Setting method .................................................................................................................................................. 47
(2) Setting example ................................................................................................................................................ 48
(3) Selecting control mode and control feature in teaching box .............................................................................. 50
5.4 Control Mode and Control Characteristics Details............................................................................................... 51
(1) Settings for the force sense control conditions.................................................................................................. 51
(2) Control mode and control characteristics setting compatibility table ................................................................. 53
(3) Specifying the force sense control coordinate system (M_FsCod0／M_FsCod1, FSCOD0#) .......................... 54

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(4) Specifying the force control mode (P_FsMod0／P_FsMod1, FSFMD0#) ......................................................... 55
(5) Specifying the stiffness coefficient (P_FsStf0/P_FsStf1, FSSTF0#) ................................................................. 58
(6) Specifying the damping coefficient (P_FsDmp0/P_FsDmp, FSDMP0#) ........................................................... 61
(7) Specifying the force command value and limit value (P_FsFCd0/P_FsFCd, FSFCMD0#) ............................... 62
(8) Specifying the force sense control gain (P_FsGn0/P_FsGn1, FSSWF0#)........................................................ 63
(9) Specifying the speed command value (P_FsSpd0/P_FsSpd1, FSSPD0#) ....................................................... 67
(10) Specifying the mode switching judgment value (P_FsSwf0/P_FsSwf1, FSSWF0#) ....................................... 68
(11) Specifying the force detection setting value (P_FsFLm0/P_FsFLm1, FSFLMT0#) ......................................... 71
(12) Offset cancel designation ................................................................................................................................ 72
(13) Gravity Offset Cancel Function ....................................................................................................................... 75
Chapter 6 Force Log ...................................................................................................................................................... 85
6.1 Force Log Parameters......................................................................................................................................... 85
6.2 Force Log Data Acquisition (FsLog On/FsLog Off).............................................................................................. 86
Practice 7: Force log ........................................................................................................................................... 87
6.3 Force Sense Log Data Display (RT ToolBox3).................................................................................................... 89
(1) Start Method...................................................................................................................................................... 89
(2) Main Window..................................................................................................................................................... 89
6.4 Force Log File FTP Transfer ............................................................................................................................... 90
6.5 Oscillograph (RT ToolBox3) ................................................................................................................................ 91
Chapter 7 Teaching Operation ....................................................................................................................................... 93
7.1 Teaching Position Precautions ............................................................................................................................ 93
7.2 Teaching Position Search.................................................................................................................................... 94
7.3 Precautions when using stiffness control............................................................................................................. 96
7.4 Practice ............................................................................................................................................................... 97
Practice 8: Teaching the force sense .................................................................................................................. 97
Practice 9 Teaching the insert complete position with the force sensor (using the force control) ......................101
Practice 10 Teaching the insert complete position with the force sensor (using the stiffness control) ...............102
Chapter 8 Force Sense Function (Interrupt Processing) ...............................................................................................103
8.1 Control mode/Control characteristics .................................................................................................................103
(1) Control characteristics Change Commands (FsGChg/FsCTrg) .......................................................................103
8.2 Practice ..............................................................................................................................................................105
Practice 11: Changing the control characteristics ..............................................................................................105
Practice 12: Changing the control characteristics ..............................................................................................109
Chapter 9 Force Sense Detection .................................................................................................................................113
9.1 Force Sense Detection .......................................................................................................................................113
9.2 Mo Trigger (DefMoTrg, SetMoTrg, M_MoTrg) ...................................................................................................114
9.3 Force Detection Status (M_FsLmtS, P_FsLmtR) ...............................................................................................115
9.4 Data Latch (P_FsLmtX/P_FsLmtP/P_FsLmtD) ..................................................................................................116
9.5 Data Verification (P_FsMaxD / P_FsCurD) ........................................................................................................117
9.6 Practice ..............................................................................................................................................................119
Practice 13: Interrupt processing .......................................................................................................................119
Chapter10 Exercise.......................................................................................................................................................123
Exercise 1: Phase focusing and assembly inspection ..............................................................................................123
Exercise 1-1 Hand insertion and withdraw operation .........................................................................................123
Exercise 1-2 Perform phase focusing for the gear at hand insertion, and pulling out operation.........................127
Exercise 1-3 Hand insertion (phase focusing), gear rotation confirmation, pulling out operation ....................133
Exercise 2 : Following operation...............................................................................................................................139
Exercise 2-1 Follow the curved surface .............................................................................................................139
Exercise 2-2 Move by following the curved surface ...........................................................................................143
Exercise 3: Interrupt processing, data latch .............................................................................................................149
Exercise 3: Interrupt processing, data latch .......................................................................................................149
Appendix 1 Connecting the Force Sensor.....................................................................................................................153
Appendix 1.1 Connecting the Force Sensor and the Force Sense Interface Unit.....................................................153
(1) Robot with internal wiring (-SH**).....................................................................................................................153
(2) Standard robot + option (forearm external wiring set) ......................................................................................153
(3) Standard robot + external wiring (external routing) ..........................................................................................154
Appendix 2 Coordinate System Definition.....................................................................................................................155
Appendix 2.1 Force Sense Coordinate System (Mechanical Interface) ...................................................................155
Appendix 2.2 Force Sense Coordinate System (Tool) .............................................................................................156
Appendix 2.3 Force Sense Coordinate System (XYZ) .............................................................................................156
Appendix 3 Contact Detection.......................................................................................................................................157
(1) Using the contact detection.................................................................................................................................157
(2) Displaying the force detection setting value in the teaching box .........................................................................158
(3) Usage example (contact detection/force sense monitor) ....................................................................................159
Appendix 4 Operation of the Teaching Box (R56TB) ....................................................................................................161
Appendix 4.1 Editing Parameter...............................................................................................................................161

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Appendix 4.2 Force Control Operation .....................................................................................................................162
(1) Checking the force sensor data communication...............................................................................................162
(2) Offset Cancel Operation...................................................................................................................................163
(3) Selecting the Control Mode/Control characteristics..........................................................................................164
(4) Force Sense Control Enable/Disable Selection................................................................................................164
(5) Force Sense Monitor ........................................................................................................................................165
(6) Position search.................................................................................................................................................165
(7) Contact Detection.............................................................................................................................................166
Appendix 5 Force Sense Log File .................................................................................................................................167
Appendix 5.1 Force Sense Log File FTP Transfer..................................................................................................167
(1) FTP parameter .................................................................................................................................................167
(2) FTP connection/setting.....................................................................................................................................168
Appendix 5.2 RT ToolBox3 Creating a project for the oscillograph ..........................................................................169
Appendix 6 Reference Case .........................................................................................................................................173
Appendix 6.1Program Example................................................................................................................................173
(1) Part Assembly Work (Force Control)................................................................................................................173
(2) Phase Focusing Push ......................................................................................................................................175
(3) Coordinate calculation......................................................................................................................................177
Appendix 7 Parameter ..................................................................................................................................................181
Appendix 7.1 Setting Parameters and Status Variables for Force Sense Control Conditions ..................................181
Appendix 8 Troubleshooting..........................................................................................................................................187
Appendix 8.1 Behaviour when Force Sense Control Errors Occur...........................................................................187
Appendix 8.2 Force Sense Function Related Error List............................................................................................188
Appendix 8.3 Force Sense Function Related Error Details ......................................................................................191
Appendix 8.4 Force sense interface unit errors ........................................................................................................198
Appendix 8.5 Q&A ...................................................................................................................................................199

-1-

Introduction
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) facilitates work requiring micro force
adjustments and power detection.
The force sense function acquires the position information
and force information to verify and manage the data.
2. Features of the force sense function
(1) Robots can be controlled with flexibility and operated while following the target workpieces.
(2) Robots can be operated while pushing in the desired direction with a fixed amount of force.
(3) Robot flexibility 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 ToolBox3.
(8) Log data files can be transferred to an FTP server.
3. Main applications
· Assembling and fitting with a fixed amount of force to a desired direction
· Inspection by the detection of force variation during and after assembly
· Transporting and others
Force sensor
Fitting and inspection Assembly and fitting Force inspection and assembly

-2-
4. Procedure from selection to automatic operation
Step Description Reference
1 Select the Force Sensor Chapter 1 Force Sensor Specifications and
Configuration
1.3 Selecting the Force Sensor Set
2 Attach the force sensor attachment
adapter
Chapter 2 Installing the Force Sensor
2.1 Attaching the Sensor Attachment Adapter
3 Install the force sensor Chapter 2 Installing the Force Sensor
2.2 Install the Force Sensor
4 Securing the force sensor cable Chapter 2 Installing the Force Sensor
2.3 Fixing the force sensor cable
5 Install the tool (hand) Chapter 2 Installing the Force Sensor
2.5 Tool installation
6 Connect the force sense interface unit
and robot controller
Chapter 3 Device Connection and Wiring
3.1 Force Sense Interface Unit ⇔Robot Controller
7 Connect the force sense interface unit
and force sensor
Chapter 3 Device Connection and Wiring
3.2 Force Sense Interface Unit ⇔Force Sensor
8 Turn ON the force sense interface unit
Turn ON the robot controller
Chapter 3 Device Connection and Wiring
3.3 Power ON/OFF
9 Set the force sensor parameter
Restart the controller
Chapter 4 Parameter Setting
4.1 Force Sensor Parameter Setting
10 Set the tool (hand) information Chapter 4 Parameter Setting
4.2 Hand Parameter Setting
11 Check the force sensor connection and
setting
Chapter 4 Parameter Setting
4.3 Connection and Setting Check
12 Programming Chapter 5 Force Sense Function (Programming)
13 Teaching Chapter 7 Teaching Operation (Teaching)
14 Debug
15 Automatic operation

-3-
Chapter 1 Force Sensor Specifications and Configuration
1.1 Force Sensor Specifications
There are two types (rated load: 200 N and 1000 N) of force sensors.
(1) Specifications of the force sensor
Item Unit Specification Value Remarks
Model - 1F-FS001-W200 1F-FS001-W1000
Rated load (*1)
Fx, Fy, Fz N 200 1000 Be sure to set the
value within the rated
load to the FSLMTMX
(force sensor permissible
value)parameter.
Mx, My, Mz Nm 4 30
Resolution
(Minimum
control force)
Fx, Fy, Fz N Approx. 0.03 Approx. 0.15
Mx, My, Mz Nm Approx. 0.0006 Approx. 0.0046
Minimum
control
force (*2)
Fx, Fy, Fz N 0.3 This value can be
changed by the
FSMINCTL (force
sensor
minimum control force)
parameter.
Mx, My, Mz Nm 0.03
Consumption current mA 200
Output form - RS422
Weight (sensor unit) g 360 580
External dimensions mm φ80×32.5 φ90×40
Protective structure - IP30
*1: When 1F-FS001-W200 is used with RV-7/13/20FR, RV-7/13/20F robot, the moment beyond the
moment rated load of the force sensor is applied if the tool/workpiece of the robot's maximum
load mass is grasped and its hand posture is set vertically to the installation surface (the robot
set on the floor).
Use the force sensor with the hand posture at which the moment does not exceed the moment
rated load (for example, with the hand posture facing downward).
*2: Minimum value of force or moment for force sense control.
Caution
When a load beyond the rated load is applied repeatedly, distortion occurs
gradually inside the sensor.
Therefore, the force cannot be detected precisely.
Use the force sensor with a load within the rated range
.

-4-
(2) Force Sensor External Dimensions
Outline drawings of the force sensor are shown below.
a) 1F-FS001-W200
Sensor detection center
Tap hole for attachment 4-M6×1.0
Low head bolt for mounting sensor 4-M6×1.0

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b) 1F-FS001-W1000
Attachment adapter mounting surface Tool mounting surface
Pin hole for positioning
2-∅3H7
Pin hole for positioning
2-∅3H7
H7 effective
depth 4
(Detection axis Y)
(Detection
axis X)
connector
(Detection
axis Z)
Tap hole for attachment 4-M6×1.0
Low head bolt for mounting sensor 4-M6×1.0
Sensor detection center
H7 effective
depth 4

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(3) Sensor Attachment Adapter External Dimensions
Outline drawings of the sensor attachment adapter are shown below.
a) For 1F-FS001-W200 (RV-2/4/7FR and RV-2/4/7F)
b) For 1F-FS001-W1000 (RV-2/4/7FR and RV-2/4/7F)
Mechanical interface installing surface Force sensor installing surface
depth 6
depth 5
4 – M6 screw through-hole
(at equidistant points
on circumference)
4 – M3 screw depth 6
4 – 5.5 cut, ∅10 through-hole depth 10
(at equidistant points
o
n circumference)
(sensor positioning pin hole)
Mechanical interface installing surface
Force sensor installing surface
depth 6
Section A-A
depth 5
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, ∅10 through-hole depth 10
(at equidistant points on
circumference)

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c) For 1F-FS001-W1000 (RV-13/20FR and RV-13/20F)
Mechanical interface installing surface
Force sensor installing surface
depth 6
4 – M6 screw through-hole, bottom hole 4.9
(at equidistant
points on circumference)
4 – M3 screw depth 6,
bottom hole depth 11
depth 5
Section A-A
4 – 7 cut, ∅11 through-hole depth 8
(at equidistant points on circumference)

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(4) Configuration of the force sensor set
·The force sensor set for the FR series and F series (for
200 N and 1000 N each) are available.
·The force sense interface units of the force sensor set
for the FR series and F series are different. (Refer to
the right table.)
[Note] The force sensor set for the F series cannot be
used for the FR series.
a) For 200 N
For FR series 4F-FS002H-W200, F series: 4F-FS001-W200
b) For 1000N
For FR series 4F-FS002H-W1000, F series: 4F-FS001-W1000
<1> Force sensor (1F-FS001-W200)
<2> Force sense interface unit
<3> Sensor attachment adapter
<4> Adapter cable
<5> 24 VDC power supply
<6> 24 VDC power supply
output cable
<7> 24 VDC power supply
input cable
<8> Serial cable
between unit and sensor
<9> SSCNET III cable (10 m)
<10> CD-ROM
•
Instruction Manual
•
Sample Program
<11> Force sensor attachment
accessories
<1> Force sensor (1F-FS001-W1000)
<2> Force sense interface unit
<3> Adapter cable
<4> 24 VDC power supply
<5> 24 VDC power supply
output
cable
<6> 24 VDC power supply
input cable
<7> Serial cable
between unit and sensor
(5 m)
<8> SSCNET III cable (10 m)
<9> CD-ROM
•
Instruction Manual
•
Sample Program
Force sensor
set
Force sense
interface unit model
For FR series 2F-DQ561
For F series 2F-TZ561
Force sense interface unit model

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1.2 System Configuration
The device configuration required to use the force sense function is shown below.
a) FR Series
Robot
(FR Series)
24 VDC output cable
(2F-PWRCBL-01)
Force sense interface unit (2F-DQ561)
Serial cable between unit and sensor
(2F-FSCBL1-05)
Force sensor
(1F-FS001-W200/1F-FS001-W1000)
SSCNETIII
cable
24 VDC
input power
supply cable
(2F-PWRCBL-02)
24 VDC
power supply
(2F-PWR-01)
Machine cable
(Force sensor
attachment example)
Robot controller
Teaching box
(R56TB or R32TB)
RT ToolBox3
3F-14C-WINE
3F-15C-WINE
RT ToolBox3 Pro
3F-16D-WINE
Computer