Parameter Specifications; Force Sense Function Related Parameter List - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

12 Parameter Specifications

12 Parameter Specifications

This Chapter describes parameters relating to the force sense function.

12.1 Force Sense Function Related Parameter List

Parameter
Parameter
Name
Force sense AXJNO
interface unit
recognition
AXMENO
Calibration FSHAND
FSXTL
Force sensor FSLMTMX
tolerance
Force sense FSCORMX
control offset
limit
Force sensor FSFLCTL
data filter
12-188 Force Sense Function Related Parameter List
Table 12-1 Force sense control related parameters
No. of
Elements
16 integers Sets the force sense interface unit or additional axis
number for the element corresponding to the servo
control axis number being used.
<If using force sense interface unit>
Servo control axis No.: Set "9" for axis No.1.
16 integers Enter a mechanical number corresponding to the servo
control axis number being used. Always set "0" for axes
that are not being used.
1 integer Selects the force sensor coordinate system hand system
(left-hand system/right-hand system).
The force sensor coordinate system hand system differs
depending on the sensor attachment direction, and
therefore it is necessary to change the setting based on
the attachment direction.
Set the left-hand system for recommended attachment.
0: Force sensor coordinate system left-hand system
1: Force sensor coordinate system right-hand system
<Left-hand system>
Ｙ
6 real Sets the positional relationship for the mechanical
numbers interface coordinate system and force sensor coordinate
system.
1st element: X-axis direction coordinate system origin offset [mm]
2nd element: Y-axis direction coordinate system origin offset [mm]
3rd element: Z-axis direction coordinate system origin offset [mm]
4th element: Coordinate axis rotation angle around X-axis [deg]
5th element: Coordinate axis rotation angle around Y-axis [deg]
6th element: Coordinate axis rotation angle around Z-axis [deg]
6 real Sets the force sensor tolerance.
numbers If sensor data exceeding the force and moment set at
this parameter is detected, an error (H7660) occurs and
the robot is stopped.
(Force sense control will be disabled.)
1st element: Force sensor data Fx tolerance [N]
2nd element: Force sensor data Fy tolerance [N]
3rd element: Force sensor data Fz tolerance [N]
4th element: Force sensor data Mx tolerance [N·m]
5th element: Force sensor data My tolerance [N·m]
6th element: Force sensor data Mz tolerance [N·m]
2 real Sets the maximum position offset for force sense control.
numbers 1st element: Position maximum offset [mm]
2nd element: Posture maximum offset [deg.]
[Setting range]
1st element: 0 to +200.0
2nd element: 0 to +150.0
1 real Sets the force sensor data filter time constant.
number [Unit]: ms
[Setting range]:
Description
<Right-hand system>
Ｚ
Ｘ
Ｘ
0 to +1000.0
Factory Default
Setting
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0
0
Ｚ
Ｙ
0.0, 0.0, 0.0,
0.0, 180.0, 0.0
(vertical
multi-joint robots)
0.0, 0.0, 0.0,
0.0, 0.0, 180.0
(horizontal
multi-joint robots)
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
10.0, 10.0
1.7