Mitsubishi CR750 Series Instruction Manual page 124

11 Language Specifications
Fsc On
[Function]
Enables the force sense control function using force sensor.
[Syntax]
FscOn <Control mode>, <Control characteristics >, <Offset cancel designation>
[Terminology]
<Control mode>
Table 11-2 Control mode setting items and corresponding values
Setting Item
Force sense control
coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
<Control characteristics >
Table 11-3 Control characteristics setting items and corresponding values
Setting Item
Force command
value
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
<Offset cancel designation> Specifies whether to cancel the force sensor data offset component.
[Example]
Refer to examples in section
11-114 Commands Relating to Force Sense Control Function
Specifies the force sense control mode No. (See section
Setting range: -1 - 9
-1 0
M_FsCod1 M_FsCod0
P_FsMod1 P_FsMod0
P_FsStf1 P_FsStf0
P_FsDmp1 P_FsDmp0
Specifies the force sense control characteristics No. (See section
Setting range: -1 - 9
-1 0
P_FsFCd1 P_FsFCd0
P_FsSpd1 P_FsSpd0
P_FsSwF1 P_FsSwF0
P_FsGn1 P_FsGn0
P_FsFLm1 P_FsFLm0
(zero point offset)
Setting value: 0 (Do not cancel)/1 (Cancel)
(For details, see section
11.7 .
Control Mode
1 2
FSCOD01 FSCOD02
FSFMD01 FSFMD02
FSSTF01 FSSTF02
FSDMP01 FSDMP02
Control characteristics
1 2
FSFCMD01 FSFCMD02
FSSPD01 FSSPD02
FSSWF01 FSSWF02
FSFGN01 FSFGN02
FSFLMT01 FSFLMT02
8.1.3 .)
8.1.2 .)
- 9
- FSCOD09
- FSFMD09
- FSSTF09
- FSDMP09
8.1.2 .)
- 9
- FSFCMD09
FSSPD09
-
FSSWF09
-
- FSFGN09
- FSFLMT09