Status Variables Relating To Force Sense Control Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11.2 Status Variables Relating to Force Sense Control Function

This section describes MELFA-BASIC V status variables relating to the force sense control function.
No. Status Variable
1 M_FsCod0,
M_FsCod1
2 P_FsMod0,
P_FsMod1
3 P_FsStf0, P_FsStf1
4 P_FsDmp0,
P_FsDmp1
5 P_FsFCd0, P_FsFCd1 Specifies/references the force command value for each
6 P_FsSpd0, P_FsSpd1
7 P_FsSwF0,
P_FsSwF0
8 P_FsGn0, P_FsGn1
9 P_FsFLm0,
P_FsFLm1
Table 11-5 Force sense control status variables
Specifies/references the force sense control coordinate
system.
Specifies/references the force sense control mode for
each axis.
Specifies/references the stiffness coefficient for each
axis.
Specifies/references the damping coefficient for each
axis.
axis.
Specifies/references the speed command value for
each axis.
Specifies/references the mode switching judgment
value for each axis.
Specifies/references the force sense control gain for
each axis.
Specifies/references the force detection setting value
for each axis.
Status Variables Relating to Force Sense Control Function 11-143
Function Overview
11 Language Specifications
Control mode
Control
characteristics