Force Control Mode; Force Control Characteristics - Mitsubishi Electric R56TB Instruction Manual

17.4.27.2. Force control mode

Set the parameters, [Coordinate system], [Control mode of axes], [Stiffness coefficients], and [Dumping
coefficients] which are used by the control mode of force control function.
After you change the parameter values, you can rewrite the parameters in the robot controller by tapping the
[Write] button.

17.4.27.3. Force control characteristics

Set the parameters, [Gain], [Instruction], and [Detection] which are used by the control feature of force control
function.
The "Mode switch judgment/Speed reference" button is displayed in this software 3.1 or later. The controller
which can set the parameters [Mode switch judgment] and [Speed reference] is as follows.
Table 17-6 Robot controller which can set the parameters [Mode switch judgment] and [Speed reference]
CR750-D/CRnD-700
CR750-Q/CRnQ-700
(1) In the case of using version 3.0 or earlier
Controller
CR800-D/R/Q Can be used with all versions
S/W Ver. of the controller
Ver.S3g or later
Ver.R3g or later
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