Mitsubishi CR750 Series Instruction Manual page 136

11 Language Specifications
P_FsFCd0, P_FsFCd1
[Function]
Specifies/references the force command value for force sense control (force control).
[Syntax]
Example) P_FsFCd0=<Position variable 1>
Example) <Position variable 2>=P_FsFCd1
[Terminology]
<Position variable 1> Specifies the force command value for force sense control (force control).
<Position variable 2> Specifies the save destination for the read force command value.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the force command value contained in the condition group (control characteristics).
(2) The specified value is used if the Fsc On command <control characteristics > is set to "-1" or "0".
(3) Default status: The parameter FSFCMD01 setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) When force sense control is enabled with <control characteristics > = "0", it is not possible to write
P_FsFCd0. (Error L3987 occurs.)
(6) When force sense control is enabled with <control characteristics > = "-1", it is not possible to write
P_FsFCd1. (Error L3987 occurs.)
(7) When no force sensor is connected, the value is not applied even if it is written. Also if the setting value is
read, always 0.0 is output for all elements.
11-126 Status Variables Relating to Force Sense Control Function
(The L1- and L2-axis components do not use this variable.)
Component
X, Y, Z
- force sense tolerance value to
+ force sense tolerance value
A, B, C
- force sense tolerance value to
+ force sense tolerance value
L1, L2
11.7 .
Setting Range
0.0
Unit
N
N·m
-