Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 156

11 Language Specifications
M_FsCod0, M_FsCod1
[Function]
Specifies/references the force sense control coordinate system.
[Syntax]
Example) M_FsCod0=<Numeric variable 1>
Example) <Numeric variable 2>=M_FsCod1
[Terminology]
<Numeric variable 1> Specifies the force sense control coordinate system.
<Numeric variable 2> Specifies the save destination for the read control coordinate information.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the coordinate system for which force control is performed contained in the condition
group (control mode).
(2) The specified value is used if the Fsc On command <control mode> is set to "-1" or "0".
(3) Default status: The parameter FSCOD01 setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) When force sense control is enabled with <control mode> = "0", it is not possible to write M_FsCod0. (Error
L3987 occurs.)
(6) When force sense control is enabled with <control mode> = "-1", it is not possible to write M_FsCod1. (Error
L3987 occurs.)
(7) When no force sensor is connected, the value is not applied even if it is written. Also if the setting value is
read, always 0 is output.
11-144 Status Variables Relating to Force Sense Control Function
Setting
0 Coordinate system (Tool)
1 Coordinate system (XYZ)
11.9 .
Mode