1.2 Examples of Using the MotoFit Function
1.3 Examples of Using the FSE-Tool
1.4 Smart Pendant Extension for the MotoFit Function
1.5 Torque Sensor MotoFit Function
2 MotoFit Function Specifications
2.2 Force Sensor Specifications
2.3 Static Load Tolerance of Force Sensors
2.4 Sensor Cable Specifications
2.6 Signals and Variables Used in MotoFit Function
2.7 Notes When Using Together with Option Functions
2.7.2 Interface Panel Function
2.7.5 Independent/Coordinated Control Function
3.1 Mounting the 6-axis Force Sensor
3.2 Connection and Outfitting of Sensor Cable
3.4 FSE-Tool Connection Settings
3.6.2 Mounting Direction of Force Sensor
3.6.4 Robot B-axis Softlimit Check
3.7 Periodic Check Function Setting
3.8 Registering Special Commands
3.8.1 Registration of Macro Command
3.8.2 Registration of SKILLSND Command
4.1 Details of Force Condition File
4.2 Force Condition File Settings
5 MotoFit Function Force Control Start/End Commands
6 Special Commands for Fitting Work for MotoFit Function
6.1.2 Details of TOUCH (SKILLSND Command)
6.1.3 TOUCH Command Operation Detailed Flowchart
6.2.1 FIT (Macro Command) Details
6.2.2 Details of FIT (SKILLSND Command)
6.2.3 FIT Command Operation Detailed Flowchart
6.3.1 INSERT (Macro Command) Details
6.3.2 Details of INSERT (SKILLSND Command)
6.3.3 INSERT Command Operation Detailed Flowchart
6.4 Notes on Fitting Operation Commands
6.4.1 Valid axis setting when executing fitting operation special commands
6.4.2 Insertion Speed during Fitting Operation
7 MotoFit Function Force Following and Force Detection Commands
7.5.1 Details of FREF (Macro Command)
7.6.1 Details of FDET (Macro Command)
7.7 Notes on Force Following and Force Detection Commands
7.7.1 Teaching of Force Following
7.7.2 Operation Speed during Force Following
7.7.3 Reaction Force during Force Detection
7.7.4 Use of the Force Detection Signal in the MOV Instruction
8.1 Creation Procedure for a Fitting Work Job
8.1.1 Setting the Force Condition Files for Fitting Work
8.1.2 Creating the Fitting Work Job
8.1.3 Example of Fitting Work Job Operation
8.2 Creation Procedure for a Force Following and Force Detection Job
8.2.1 Setting the Force Condition File for Force Following and Force Detection
8.2.2 Creating the Force Following and Force Detection Job
8.2.3 Example of Force Following and Force Detection Job Operation
9.2 Constant Pressing Force Function
9.2.2 Setup of the Constant Pressing Force Function (YRC1000micro Only)
9.2.5 Example of Creating Constant Pressing Force Function JOB
9.2.5.1 Example of Constant Pressing Force Function JOB
9.2.5.2 Example of Creating Compensation Value for Constant Pressing Force Function
9.2.5.3 Example of Compensation Operation for Constant Pressing Force Function
9.3 Force Waveform Monitoring Function
9.3.3 Details of Waveform Output
9.3.5 Monitoring by IO Signals
9.3.6 Creation Example of Monitoring Job
9.3.7 General-Purpose I/O Signals
9.3.8 Waveform Data Saving Location Setting
9.3.9 Monitoring with I/F Panel Operations
9.4 Guidance Function for Force Condition File Settings
9.4.2 Basic Settings of the Force Condition File
9.4.3 Automatic Tuning of Force Control Parameters
9.5 Guidance Function for Special Commands for Fitting Work
9.5.2 Open MotoFit Command Setup Menu
10.2 Inspection of Force Sensor
10.3.1 Periodic Check Function
10.3.2.1 Setting of register output
10.3.2.2 Load Check of Periodic Check Job
10.3.2.3 Setting of variables and parameters
10.3.2.4 Registration of output measurement posture of force sensor
10.3.2.5 Operation Check of Periodic Check Job
10.3.3 Operation of Periodic Check Function
10.3.4 Re-registration of Reference
10.3.6 Changing the variable numbers used
10.3.7 When the basic posture cannot be taken
10.4 Replacement of Force Sensor
10.5 Replacement of Force Sensor Cable
11.1 Setting of Tool Information
11.2 Operation When the MotoFit Function is Working
11.3 Using the MotoFit Function in a Test Operation
11.4 Using the MotoFit Function during the Machine-Lock Operation
11.5 Interruption of Operation While the MotoFit Function Executes
11.7 Restrictions of Usage Environment
12.2 Disabling / Enabling the Force Sensor
12.2.1 Disabling the Force Sensor
12.2.2 Enabling the Force Sensor
12.3 Disabling/Enabling the Overload Alarm
12.4 Disabling/Enabling Overload Counter Alarms
12.5 Disabling/Enabling Zero Point Output Alarms
12.6 Disabling/Enabling the Constant Pressing Force Function
12.7 Ensuring the Safety of the User-Defined Files
12.7.1 Saving and Loading of User-Defined Files
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