Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 179

M_FsRsltM
[Function]
Checks the current force sensor resultant moment (Fx, Fy, Fz).
[Syntax]
Example) <Position variable>= M_FsRsltM
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
1 *L1 : If M_FsRsltM < 1 Then GoTo *L1
' If the force sensor resultant moment is less than 1[Nm], repeat this step.
2 M_Out(100) = 1
' If the force sensor resultant moment is more than 1[Nm], turn the output signal 100 ON.
[Description]
(1) Displays the current resultant moment of the force sensor. Resultant moment M is determined as follows
from the moment component of the force sensor ( Mx, My, Mz ).
M M 2 M 2
= +
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 moment of the
force sensor.
(4) When the force sensor is not connected, always returns 0.
M 2
+
z
Status Variables Relating Force Sense Detection Function 11-167
11 Language Specifications