Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 159

P_FsDmp0, P_FsDmp1
[Function]
Specifies/references the damping coefficient (responsiveness) for force sense control (stiffness control/force
control).
[Syntax]
Example) P_FsDmp0=<Position variable 1>
Example) <Position variable 2>=P_FsDmp1
[Terminology]
<Position variable 1> Specifies the damping coefficient for force sense control.
<Position variable 2> Specifies the save destination for the read damping coefficient.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the damping coefficient 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 FSDMP01 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 P_FsDmp0. (Error
L3987 occurs.)
(6) When force sense control is enabled with <control mode> ="-1", it is not possible to write P_FsDmp1. (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 0.0 is output for all elements.
(The L1- and L2-axis components do not use this variable.)
Component
X, Y, Z
A, B, C
L1, L2
11.9 .
Setting Range
0.0 - 1.0
N·m/(deg/s)
0.0 - 1.0
0.0
Status Variables Relating to Force Sense Control Function 11-147
11 Language Specifications
Unit
N/(mm/s)
-