Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 73

FsCTrg (FsC trigger)
[Function]
Sets the control feature change for force sense control with an Mo trigger.
* If using the FsCTrg command, it is necessary to set the Mo trigger conditions beforehand.
[Syntax]
FsCTrg  <Trigger No.>, <Change time>, <Control feature group No. after change>
[Terminology]
<Trigger No.>
Specifies the Mo trigger No. used to change the control feature with a constant.
Setting range: 1 to 3
<Change time>
Specifies the time taken to change the control feature.
The force detection setting value and mode switching judgment value change immediately, regardless of this
setting.
Setting range: 1 to 1000 [ms]
<Control feature group No. after change>
Specifies the control feature group No. applied after the change.
Setting range: -1 to 9
<Timeout>
Specifies the Mo trigger timeout monitoring time with a constant.
Setting range: 0 to 60 [s]
If omitted, timeout processing is not performed.
<Execution method>
Specifies the timeout monitoring execution method for this command with a constant.
0: Proceeds to next program without waiting for Mo trigger ON.
1: Does not proceed to next program until Mo trigger turns ON or timeout reached.
<Error specification>
Specifies whether an error occurs following a timeout.
0: An error occurs.
1: An error does not occur.
If omitted, an error occurs following a timeout.
By changing the control characteristics with the FsGChg command, the differences in changes to control
characteristics made with the Mo trigger command are as follows.
Command FsGChg Command
Trigger
Interpolation progress
condition
When interpolation progress for first
Change start
interpolation command reaches specified
timing
value after executing FsGChg command.
Changes are only possible while an
interpolation command is being executed. To
Restrictions
disable changes, it is necessary to disable
force sense control.
[, <Timeout>，<Execution method> [, <Error specification>]
8 Using the Force Sense Function (Programming)
Mo Trigger Command
(Def MoTrg/FsCTrg Command)
Position command (orthogonal, joint)
FB position (orthogonal, joint)
Force sense position command
Force sensor data (each axis, resultant
force, resultant moment)
Input signal (1-bit)
Output signal (1-bit)
When Mo trigger conditions defined with Def
MoTrg command are satisfied
If during operation, changes are possible
regardless of whether an interpolation
command has been executed. The change
specification only can be disabled without
disabling force control.
Force Sense Control 8-61