Force Sensor Tolerance - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

6 Device Connection, Wiring, and Settings

Force Sensor Tolerance

6.5.3
The system is equipped with a function to stop robot operation in order to protect the force sensor if a value
greater than that set for force and moment in parameter FSLMTMX is detected. Always set parameter
FSLMTMX before use.
(* The default factory setting is 0, and therefore an "H7660" error will occur if this parameter is not set.)
Parameter
Parameter
Name
Force sensor FSLMTMX
tolerance
* Set the minimum required tolerance for the work being performed, within the force sensor rated value. (Refer
to section 3.6 for details on the force sensor rated value.)
* The force sensor tolerance judgment is based not on the coordinate data converted with parameter FSXTL,
but with raw data (with no offset cancel) sent from the force sensor.
<If force sensor tolerance exceeded>
If error H7660 occurs when the force sensor tolerance setting is exceeded, it will no longer be possible to
turn the servo ON. In such a case, remedy the situation with either of the following methods.
(1) Temporarily clear the error from the T/B, and then retract the robot by JOG operation.
By turning the servo ON and performing JOG operation while holding down the T/B [RESET] key, the error
is temporarily cleared, allowing the robot to be moved. Move the robot to a position at which the error does
not occur. (Refer to "Temporarily Resetting Errors that Cannot be Resolved" in instruction manual "Detailed
Explanations of Functions and Operations" for more details.)
Caution
6-40 Default Parameter Settings
Table 6-3: Sensor tolerance setting parameter
No. of
Elements
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]
If a value larger than the force sensor rated value is applied, it may cause damage
to the sensor.
Description
Factory Default
Setting
0.0, 0.0, 0.0,
0.0, 0.0, 0.0