Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 161

P_FsSpd0, P_FsSpd1
[Function]
Specifies/references the speed command value for force sense control (force control).
[Syntax]
Example) P_FsSpd0=<Position variable 1>
Example) <Position variable 2>=P_FsSpd1
[Terminology]
<Position variable 1> Specifies the speed command value for force sense control (force control).
Caution
<Position variable 2> Specifies the save destination for the read speed command value.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the speed command value 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 FSSPD01 setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) If the specified value is 0.0, speed priority mode does not function, and the robot moves in force priority
mode at all times.
(6) When force sense control is enabled with <control characteristics > = "0", it is not possible to write
P_FsSpd0. (Error L3987 occurs.)
(7) When force sense control is enabled with <control characteristics > = "-1", it is not possible to write
P_FsSpd1. (Error L3987 occurs.)
(8) If the force sensor is not connected, the value is not updated even if written. Furthermore, even if the setting
value is read, 0.0 is always output for all elements.
(9) If multiple axes are moved simultaneously in speed control mode, the actual robot movement speed is a
synthesized speed for all axes.
(The L1- and L2-axis components do not use this variable.)
Component
X, Y, Z
A, B, C
L1, L2
The speed restriction defined by the above setting range does not guarantee that
the sensor will not malfunction as a result of collision on contact. When adjusting,
move the robot at a low speed to begin with, and then increase the speed if
required.
When doing so, check the force sensor data at the point of contact at the teaching
pendant maximum value monitor, and set the speed to avoid too much force being
applied.
11.9 .
Setting Range
0.0 - 50.0
0.0 - 50.0
0.0
Status Variables Relating to Force Sense Control Function 11-149
11 Language Specifications
Unit
mm/s
deg/s
-