YNX1000 Autonomous Control Unit Instructions for Force Control Service (R2)

November 03, 2026 21:09
Updated

i Before Using the Product

i.1 Introduction to This Manual

i.1.1 Applicable Products

i.1.2 Nameplate

i.1.3 Intended Audience

i.1.4 Related Manuals

i.2 Notes for Safe Operation

i.2.1 Safety Information

i.2.2 Visual Aids

i.2.3 Important Safety Precautions

i.2.4 Warning Label Attachment Locations

i.3 Using This Manual

i.3.2 Terms for Pendant Operation

i.3.3 Trademarks

1.1 About the Force Control Service

2 Specifications of the Force Control Service Function

2.1 System Configuration

2.2 Force Sensor Specifications

2.3 Allowable Static Load of Force Sensor

2.4 Sensor Cable Specifications

2.5 Robot Controller Specifications

2.6 Signals and Variables Used by Force Control Service

3 Force Control Service Function Setup

3.1 Installation of 6-Axis Force Sensor

3.2 Connection and Installation of Sensor Cable

3.3 Attaching the Tool (End Effector)

3.4 Operation Check

3.4.1 Startup Check

3.4.2 Force Sensor Installation Direction Check

3.4.3 Warm-Up Operation

3.4.4 B-Axis Software Limit of Robot

4 Force Control Editor Functional Description

4.1 About Force Control Editor

4.2 Force Control Parameter Setting Function

4.2.1 Creating and Editing Files

4.2.2 Pressing Skill Parameter Setting

4.2.3 Fitting Skill Parameter Setting

4.2.4 External Force Detection Skill Parameter Setting Screen

4.3 Force Control Data Monitoring Function

4.3.1 Force Control Data Monitoring

4.3.2 Legend Selection Screen

5 Force Control Service File Operations

5.2 Access to Files in the Force Control Service

5.3 File Operations

5.3.1 Skill Parameter File

6 Skills of Force Control Service

6.1 Signals and Variables Used in Skills

6.2 Skills List

6.2.1 FCS_START_PRESS

6.2.2 FCS_SET_PRESS_PRM

6.2.3 FCS_STOP_PRESS

6.2.4 FCS_START_SY_PRESS

6.2.5 FCS_START_APPROACH

6.2.6 FCS_START_SEARCH

6.2.7 FCS_START_INSERT

6.2.8 FCS_STOP_FITTING

6.2.9 FCS_START_SY_FIT

6.2.10 FCS_START_FDET

6.2.11 FCS_STOP_FDET

6.3.3 External force detection

7 Force Control Service APIs

7.1 About gRPC (Google Remote Procedure Call)

8 Gravity Compensation Function

8.1 Map File Generation Job for Gravity Compensation

8.2 Set Up the Map File Generation Job for Gravity Compensation

8.2.1 Registering the Motion Start Posture

8.2.2 Registering the Posture in Which the T-axis Is Rotated from the Motion Start Posture

8.2.3 Entering the Rotation Angle of B-Axis

8.3 Running the Map File Generation Job for Gravity Compensation

9.1 Set Tool Information

9.2 Effect on Motion Paths during the Force Control Service Function Execution

9.3 About the Interrupt Action during the Force Control Service Function Execution

9.4 Limitations on Electrical Noise

9.5 Dust- and Drip-Proof Protection Rating

9.6 Precautions during Continuous Pressing Operation

9.7 Notes on General-Purpose Registers

10 Troubleshooting

10.1 Alarm List

10.2 Disabling the Force Sensor

10.3 Disabling/Enabling the Overload Alarm

10.4 Disabling/Enabling the Overload Counter Alarm

Revision History

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