Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 202

12 Parameter Specifications
Parameter
Parameter
Name
Control mode FSBIAS01-
09
FSGRP01-
09
FSMASS0
1 - 09
Control FSFCMD0
characteristic 1 - 09
s
FSSPD01 -
09
12-190 Force Sense Function Related Parameter List
No. of
Elements
6 real Sets the bias value used for gravity offset cancel.
numbers
1st element: Force sensor data Fx bias value [N]
2nd element: Force sensor data Fy bias value [N]
3rd element: Force sensor data Fz bias value [N]
4th element: Force sensor data Mx bias value [N·m]
5th element: Force sensor data My bias value [N·m]
6th element: Force sensor data Mz bias value [N·m]
(These values because these are set automatically by
the force calibration function, so you do not need to be
set again.)
6 real Sets the load center of gravity position used for gravity
numbers offset cancel.
1st element: Load center of gravity position X [mm]
2nd element: Load center of gravity position Y [mm]
3rd element: Load center of gravity position Z [mm]
4th element: Rotation angle of load center of gravity A
[deg]
5th element: Rotation angle of load center of gravity B
[deg]
6th element: Rotation angle of load center of gravity C
[deg]
(These values because these are set automatically by
the force calibration function, so you do not need to be
set again.)
1 real Sets the load mass used for gravity offset cancel.
number
[Setting unit]: kg
(These values because these are set automatically by
the force calibration function, so you do not need to be
set again.)
8 real The value has different roles in the force control and
numbers thelimited stiffness control.
[In the case of force control]
Sets the force command for force sense control (force
control). (See section 8.1.2.5 .)
[Setting range]:
force sensor tolerance value
[Setting unit]:
A, B, C component = N·m
(This setting is not required for axes for which force
control is not selected.)
[In the case of the stiffness control with limit]
Sets the limit value for the limited stiffness control. (See
section 8.1.2.6 .)
[Setting range]:
[Setting unit]:
(The value is not required in the axis that is not
applying the limited stiffness control.)
8 real Sets the speed command value for force sense control
numbers (force control). (See section 8.1.2.7 .)
[Setting range]:
[Setting unit]:
A, B, C component = deg/s
(This setting is not required for axes for which force
control is not selected.)
Description
- force sensor tolerance value to +
X, Y, Z component = N
0 to + force sensor tolerance value
X, Y, Z, L1 component = N
(L1 component sets the limit value for
the resultant force.)
A, B, C, L2 component = N·m
(L2 component sets the limit value for
the resultant moment.)
0.0 - 50.0
X, Y, Z component = mm/s
Factory Default
Setting
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0