Mitsubishi CR750 Series Instruction Manual page 148

11 Language Specifications
P_FsLmtX
[Function]
Checks/resets axes for which the force sensor data force detection setting value is exceeded.
[Syntax]
Example) <Position variable>= P_FsLmtX
Example) P_FsLmtX =<Position variable>
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
Refer to examples in section
[Description]
(1) Displays whether the force sensor data's absolute value has exceeded the force detection setting value.
Displays 1 if exceeded, and 0 if not exceeded. If any axes exist for which the value has been exceeded
even once, 1 is set for the corresponding axis element. 0 is set for axes for which the value has not been
exceeded. The value is retained until reset.
(2) Axis correspondence is as follows: Fx=X-axis, Fy=Y-axis, Fz=Z-axis, Mx=A-axis, My=B-axis, Mz=C-axis.
(3) The default status (when power ON) is 0 for all axes. A value is set when the force detection setting value is
exceeded while the force sense control function is enabled, and that value is then reset to 0 for all axes in
the following cases.
 When force sense control is enabled. (Execute the Fsc On command and enable force sense control
with the teaching pendant.)
 When the robot servo is turned from OFF to ON while force sense control is enabled.
 When operation (4) below is performed.
(4) By substituting a position variable (any position variable value is okay) for P_FsLmtX, the value can be
reset. By resetting, the P_FsLmtP and P_FsLmtD values are reset simultaneously.
(5) The value is 0 for all axes if the force sensor is not connected.
11-138 Status Variables Relating Force Sense Detection Function
11.7 .