Force Sensor Control Offset Limit; Force Sensor Data Filter Setting; Force Sensor Minimum Control Force - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Force Sensor Control Offset Limit

6.5.4
This parameter sets the position command offset upper limit for force sense control. If the offset exceeds this
upper limit, an error (H2760) occurs. This acts as a protection function for inadequate operation or setting, and
therefore the required minimum value should be set.
Parameter
Parameter
Name
Force sense FSCORMX
control offset
limit

Force Sensor Data Filter Setting

6.5.5
The force sensor data filter time constant can be changed. Sensor data that does not stabilize can be improved
by increasing the time constant, however, as this affects force sense control characteristics, the default value
should generally be used.
Parameter
Parameter
Name
Force sensor FSFLCTL
data filter
Force Sensor Minimum Control Force (Controller Ver. R6h/S6h or
6.5.6
later)
The minimum control force of force sensor can be changed.
Even if the force sensor does not touch the workpiece, etc. during force sense control, the robot may oscillate
due to stationary noise of sensor data. In this case, increasing the minimum control force improves the problem.
However, increasing the minimum control force widens the dead zone width. Therefore, the sensitivity of the
force sense detection/force sense control will be deteriorated.
Parameter
Parameter
Name
Force sensor FSMINCTL
minimum force
control
Table 6-4: Force sense control offset limit setting parameter
No. of
Elements
2 real Sets the maximum position offset for force sense
numbers control.
1st element: Position maximum offset [mm]
2nd element: Posture maximum offset [deg.]
[Setting range]
1st element: 0 to +200.0
2nd element: 0 to +150.0
Table 6-5: Force sensor data filter setting parameter
No. of
Elements
1 real Sets the force sensor data filter time constant.
number [Unit]: ms
[Setting range]: 0 to +1000.0
Table 6-6: Force sensor minimum control force parameter
No. of
Elements
6 real Sets the minimum control force of the force sensor.
number 1st element: Minimum control force of force sensor Fx [N]
2nd element: Minimum control force of force sensor Fy [N]
3rd element:
4th element: Minimum control force of force sensor Mx [Nm]
5th element: Minimum control force of force sensor My [Nm]
6th element: Minimum control force of force sensor Mz [Nm]
6 Device Connection, Wiring, and Settings
Description
Description
Description
Minimum control force of force sensor Fz [N]
Factory Default
Setting
10.0, 10.0
Factory Default
Setting
1.7
Factory Default
Setting
0.3, 0.3, 0.3,
0.03, 0.03, 0.03
Default Parameter Settings 6-41