Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 160

11 Language Specifications
P_FsFCd0, P_FsFCd1
[Function]
Specifies/references the force command value for force sense control (force control) or the limit value for the
force control (limited stiffness control).
[Syntax]
Example) P_FsFCd0=<Position variable 1>
Example) <Position variable 2>=P_FsFCd1
[Terminology]
<Position variable 1> Specifies the force command value for force sense control (force control) or force
Component
X, Y, Z
- force sense tolerance
value to + force sense
tolerance value
A, B, C
- force sense tolerance
value to + force sense
tolerance value
L1, L2
<Position variable 2> Specifies the save destination for the read force command value/limit value.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the force command value (force control) ot limit value (limited stiffness control)
contained in the condition group (control characteristics).
(2) The specified value is used if the Fsc On command <control characteristics > is set to "-1" or "0".
(3) Default status: The parameter FSFCMD01 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 characteristics > = "0", it is not possible to write
P_FsFCd0. (Error L3987 occurs.)
(6) When force sense control is enabled with <control characteristics > = "-1", it is not possible to write
P_FsFCd1. (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.
11-148 Status Variables Relating to Force Sense Control Function
sense control (limited stiffness control).
(In the force control, the L1- and L2-axis components do not use. In the limited
stiffness control, set the resultant force to the L1-axis, and the limit value of the
resultant moment to the L2-axis)
Setting Range
Force control Limited stiffness control
to + force sense tolerance
to + force sense tolerance
0.0
to + force sense tolerance
11.9 .
0.0
value
0.0
value
0.0 Force control: idle
Limited stiffness control:
value
L1[N]、L2[N・m]
Unit
N
N・m