Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 62

8 Using the Force Sense Function (Programming)
Table 8-4: Setting parameters and status variables for force sense control conditions
Setting Item
Force sense
control
coordinate
system
Force sense
control mode
Stiffness
coefficient
Damping
coefficient
Force sensor
bias value
Control mode
Load center
of gravity
position
Load mass
8-50 Force Sense Control
Description
Specifies the coordinate system for force sense control.
(See section 8.1.2.1 .)
0: Tool coordinate system
1: XYZ coordinate system
[Setting range]: 0，1
Selects the control mode for force sense control. (See
section 8.1.2.2 .)
0: Position control
1: Force control
2: Stiffness control
3: Limited stiffness control
[Setting range]: 0, 1, 2, 3
Specifies the stiffness coefficient for force sense control
(stiffness control). (See section
[Setting range]: 0.0 - 1000.0
[Setting unit]: X, Y , Z axes = N/mm
A ,B, C axes = N·m/deg
(This setting is not required for axes for which stiffness
control is not selected.)
Sets the responsiveness for force sense control. (See
section 8.1.2.4 .)
[Setting range]: 0.0 - 1.0
[Setting unit]: X, Y , Z axes = N/(mm/s)、
A ,B, C axes = N·m/(deg/s)
Sets the force sensor bias value used for the
gravty offset cansel.
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.)
Sets the load center of gravity position used for
the gravity offset cansel.
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.)
Sets the load mass used for the gravity offset
cansel.
[Setting unit]: kg
(These values because these are set automatically by
the force calibration function, so you do not need to be
set again.)
8.1.2.3 .)
Status
Parameter
Variable
FSCOD0# M_FsCod0
M_FsCod1
FSFMD0# P_FsMod0
P_FsMod1
FSSTF0# P_FsStf0
P_FsStf1
FSDMP0# P_FsDmp0
P_FsDmp1
P_FsBias0
FSBIAS0#
P_FsBias1
P_FsGrPos0
FSGRP0#
P_FsGrPos1
FSMASS0# M_FsMass0
M_FsMass1