Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 163

P_FsGn0, P_FsGn1
[Function]
Specifies/references the force sense control gain (responsiveness) for the force sense function.
[Syntax]
Example) P_FsGn0=<Position variable 1>
Example) <Position variable 2>=P_FsGn1
[Terminology]
<Position variable 1> Specifies the force sense control gain for force sense control.
<Position variable 2> Specifies the save destination for the read force sense control gain.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the force sense control gain for each axis 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 FSFGN01 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_FsGn0.
(Error L3987 occurs.)
(6) When force sense control is enabled with <control characteristics > = "-1", it is not possible to write
P_FsGn1. (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 - 300.0
0.0 - 300.0
0.0
Status Variables Relating to Force Sense Control Function 11-151
11 Language Specifications
Unit
10 mm/N
-3
10 -3 deg/(N·m)
-