Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 148

11 Language Specifications
Fsc On
[Function]
Enables the force sense control function using force sensor.
[Syntax]
FscOn <Control mode>, <Control characteristics >, <Offset cancel designation>
[Terminology]
<Control mode>
Table 11-2 Control mode setting items and corresponding values
Setting Item
Force sense control
coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Force sensor bias
value
Load center of
gravity position
Load mass
<Control characteristics >
Table 11-3 Control characteristics setting items and corresponding values
Setting Item
Force command
value
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
<Offset cancel designation> Specifies whether to cancel the force sensor data offset component.
[Example]
Refer to examples in section
11-136 Commands Relating to Force Sense Control Function
Specifies the force sense control mode No. (See section
Setting range: -1 - 9
-1 0
M_FsCod1 M_FsCod0
P_FsMod1 P_FsMod0
P_FsStf1 P_FsStf0
P_FsDmp1 P_FsDmp0
P_FsBias1 P_FsBias0
P_FsGrPos1 P_FsGrPos0 FSGRP01
M_FsMass1 M_FsMass0
Specifies the force sense control characteristics No. (See section
Setting range: -1 - 9
-1 0
P_FsFCd1 P_FsFCd0
P_FsSpd1 P_FsSpd0
P_FsSwF1 P_FsSwF0
P_FsGn1 P_FsGn0
P_FsFLm1 P_FsFLm0
(zero point offset)
Setting value: 0 (Do not cancel)/1 (Cancel)
(For details, see section
11.9 .
Control Mode
1 2
FSCOD01 FSCOD02
FSFMD01 FSFMD02
FSSTF01 FSSTF02
FSDMP01 FSDMP02
FSBIAS01 FSBIAS02
FSGRP02
FSMASS01 FSMASS02
Control characteristics
1 2
FSFCMD01 FSFCMD02
FSSPD01 FSSPD02
FSSWF01 FSSWF02
FSFGN01 FSFGN02
FSFLMT01 FSFLMT02
8.1.3 .)
8.1.2 .)
- 9
- FSCOD09
- FSFMD09
- FSSTF09
- FSDMP09
- FSBIAS09
- FSGRP09
- FSMASS09
8.1.2 .)
- 9
- FSFCMD09
FSSPD09
-
FSSWF09
-
- FSFGN09
- FSFLMT09