Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 173

P_FsLmtP
[Function]
Checks/resets the robot FB position when the force sensor data force detection setting value is exceeded.
[Syntax]
Example) <Position variable>= P_FsLmtP
Example) P_FsLmtP =<Position variable>
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
Refer to examples in section
[Description]
(1) Checks robot position feedback when the force sensor data's absolute value exceeds the force detection
setting value for the first time.
(2) The default status (when power ON) is 0 for all axes. A value is set when the force detection setting value is
exceeded while the force sense control function is enabled, and that value is then reset to 0 for all axes in
the following cases.
• When force sense control is enabled. (Execute the Fsc On command and enable force sense control
with the teaching pendant.)
• When the robot servo is turned from OFF to ON while force sense control is enabled.
• When operation (3) below is performed.
(3) By substituting a position variable (any position variable value is okay) for P_FsLmtP, the value can be
reset. By resetting, the P_FsLmtX and P_FsLmtD values are reset simultaneously.
(4) The value is 0 for all axes if the force sensor is not connected.
11.9 .
Status Variables Relating Force Sense Detection Function 11-161
11 Language Specifications