Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 152

11 Language Specifications
FsGChg (Fs gain change)
[Function]
Changes control characteristics for force sense control during operation.
[Syntax]
FsGChg <Change start time>, <Change time>, <Control characteristics group No. after change>
[Terminology]
<Change start time> Specifies the position at which the control characteristics setting change is started.
<Change time>
<Control characteristics group No. after change>
[Example]
Refer to examples in section
[Description]
(1) Changes the force sense control function control characteristics from the current setting to the specified
control characteristics.
(2) After executing this command, when the command position reaches the specified change start position, the
control characteristics change is started for the first interpolation command. (The force detection setting
value changes immediately when this position is reached.)
(3) The force sense control gain and force command are changed to the setting values specified with "Control
characteristics " over the time set in <Change time>.
Start point
(4) If the force sensor is not connected, no processing is performed when this command is executed.
(5) This command cannot be executed when the force sense control gain and force command are being
changed (when the change time has not elapsed). (Error L3987)
(6) If the force sense control function is disabled without executing the interpolation command, this command
will be disabled.
(7) The "Control characteristics " change specification can only be executed during automatic operation. If
operation is interrupted before starting the change and the mode key is switched from AUTOMATIC to
MANUAL, change processing becomes invalid at that point.
(8) When the force sense control gain and force command are being changed (when the change time has not
elapsed), processing of these changes is continued until completion, even if the force sense control function
is disabled.
(9) After executing this command, the command specification also becomes invalid when the force sense
control function is disabled, without executing the interpolation command.
11-140 Commands Relating to Force Sense Control Function
This is specified with an interrupt during the next interpolation command start point and
end point.
Setting range: 0 - 100 [%]
Specifies the time taken to change the control characteristics setting.
The force detection setting value and mode switching judgment value change
immediately, regardless of this specification.
Setting range: 1 - 1000 [ms]
Specifies the control characteristics group No. applied after the change.
Setting range: -1 to 9
11.9 .
30%
Force detection setting changes immediately.
Example 1: If change start position is 30%
Force sense control gain,
force limit change start
End point