Force Control Parameters - Mitsubishi Electric MELFA FR CR800 Series User Manual

Industrial robots

Table of Contents

Force control parameters

You can set parameters related to force control in PC and robot controllers.

For details of these parameters, refer to the user's manual of the force control function.

Force sensor parameter

Double-click [Movement parameter] -> [Force control] -> [Force sensor] under the [Parameter] item to be edited

from the project tree.

Set the parameters, [Assign sensor], [Sensor coordinates], [Filter time constant], [Restriction], and [Tolerance

level] which are used by the force control function.

You can use the [Setting] button to initialize the force sensor. Values set by initial setting are as follows.

1F-FS001-W200

1F-FS001-W1000

You can reference explanations of the displayed parameters by pressing the [Explain] button.

After you change a parameter values, you can rewrite the parameters in the robot controller by clicking the [Write]

Force control mode parameters

Double-click [Movement parameter] -> [Force control] -> [Force control mode] under the [Parameter] item to be

Figure 13-32 Force sensor parameter

Table 13-10 Sensor type initial setting value

Left-Handed/

Right-Handed