Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 178

11 Language Specifications
M_FsRsltF
[Function]
Checks the current force sensor resultant force (Fx, Fy, Fz).
[Syntax]
Example) <Position variable>= M_FsRsltF
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
1 *L1 : If M_FsRsltF < 10 Then GoTo *L1
' If the force sensor resultant force is less than 10[N], repeat this step.
2 M_Out(100) = 1
' If the force sensor resultant force is more than 10[N], turn the output signal 100 ON.
[Description]
(1) Displays the current resultant force of the force sensor. Resultant force F is determined as follows from the
force component of the force sensor ( Fx, Fy, Fz ).
2 2
F = F + F +
x y
(2) The force sensor resultant force converted to the force in the tool coordinate direction is normally displayed;
however, if force sense control is enabled in XYZ coordinate mode, the force sensor resultant force
converted to the force in the XYZ coordinate direction is displayed. Furthermore, the offset cancel (zero
point offset) result is updated.
(3) Even if the force sense control function is invalid, it is possible to check the current resultant force of the
force sensor.
(4) When the force sensor is not connected, always returns 0.
11-166 Status Variables Relating Force Sense Detection Function
2
F
z