Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 162

11 Language Specifications
P_FsSwF0, P_FsSwF1
[Function]
Specifies/references the force priority mode/speed priority mode switching judgment value for the force
sense function (force control).
[Syntax]
Example) P_FsSwF0=<Position variable 1>
Example) <Position variable 2>=P_FsSwF0
[Terminology]
<Position variable 1>
<Position variable 2> Specifies the save destination for the read mode switching judgment value.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the mode switching judgment 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 FSSWF01 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_FsSwF0. (Error L3987 occurs.)
(6) If a value same as the force command is specified, the speed priority mode is disabled, and the robot
always operates in the force priority mode.
(7) When force sense control is enabled with <control characteristics > = "-1", it is not possible to write
P_FsSwF1. (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.
11-150 Status Variables Relating to Force Sense Control Function
Specifies the force control mode/speed control mode switching judgment value for
force sense control (force control).
(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
Unit
N
N·m
-