Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 94

8 Using the Force Sense Function (Programming)
Collected Data
Force sensor
[N] or [Nm]
data
Position
[mm] or [deg]
command
Position FB [mm] or [deg]
0.1%(Rated
Current FB
current ratio)
Log File Version,1.0
Time Stamp,YYYY.MM.DD HH:MM:SS
Mecha No.,1
Robot Name,********
Data Sampling,7.111ms
Sensor Data Type,2
Offset Cancel,-18.319,3.110,97.473,0.230,1.834,-0.787
Tool Data,0.000,0.000,0.000,0.000,0.000,0.000
Base Data,0.000,0.000,0.000,0.000,0.000,0.000
No.,Fx,Fy, Mz,Cmd-X,Cmd-Y,
...,
0,0.000,0.000,...,0.000,0.000,0.000,...,0,0.000,0.000,...,0,0.000,0.000,...,0.000
1,0.000,0.000,...,0.000,0.000,0.000,...,0,0.000,0.000,...,0,0.000,0.000,...,0.000
2,0.000,0.000,...,0.000,0.000,0.000,...,0,0.000,0.000,...,0,0.000,0.000,...,0.000
:
:
 Base/tool conversion 
"Position commands" and "position FB" data are output in a coordinate system based on the

tool/base conversion data specified when executing the PsLog Off command. (The applied
tool/base conversion data is described at the beginning of the log file.)
If the data is switched between tool and base or vice versa during log data collection, the

position command/position FB before the change is not saved as a log file.
8-82 Force Sense log
Table 8-11: Collected data
Unit
Set with parameter FSLOGFN from the following:
• Force sensor raw data (with offset cancel)
• Force sensor raw data (without offset cancel)
• Data after coordinate conversion (with offset cancel)
Fx, Fy, Fz, Mx, My, Mz
Command position
Cmd-X, Cmd-Y, Cmd-Z, Cmd-A, Cmd-B, Cmd-C, Cmd-L1, Cmd-L2,
Cmd-FL1, Cmd-FL2
Feedback position
FB-X, FB-Y, FB-Z, FB-A, FB-B, FB-C, FB-L1, FB-L2, FB-FL1, FB-FL2
Motor current for each axis
iFB-J1, iFB-J2, iFB-J3, iFB-J4, iFB-J5, iFB-J6, iFB-J7, iFB-J8
Table 8-12: Log file format (CSV)
,
... Cmd-FL2,FB-X,FB-Y,...
Supplementary Information
,FB-FL2,iFB-J1,iFB-J2,
...,iFB-J8