Mitsubishi Electric MELFA CR750 Series User Manual page 181

11.3.14.3. Force control characteristics parameter
From the project tree, double-click the target project [Online] -> [Parameter] -> [Movement parameter] ->
[Force control] -> [Force control characteristics].
Set the parameters, [Force gain], [Force cmd.], and [Force detection] which are used by the control
characteristics of force control function.
"Speed condition" tab is displayed in this software version 2.20W or later. The controller which can set the
parameters [Mode switch judgment] and [Speed command] is as follows.
Table 11-5 The controller which can set the parameters [Mode switch judgment] and [Speed command]
Figure 11-26 Force control characteristics parameter (version 2.10N or earlier)
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Robot controller
CR750-D/CRnD-700
CR750-Q/CRnQ-700
Software version of the robot controller
Ver.S3g or later
Ver.R3g or later
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