P_FsLmtP
[Function]
Checks/resets the robot FB position when the force sensor data force detection setting value is exceeded.
[Syntax]
Example)
<Position variable>= P_FsLmtP
Example)
P_FsLmtP =<Position variable>
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
Refer to examples in section
[Description]
(1) Checks robot position feedback when the force sensor data's absolute value exceeds the force detection
setting value for the first time.
(2) 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 (3) below is performed.
(3) By substituting a position variable (any position variable value is okay) for P_FsLmtP, the value can be
reset. By resetting, the P_FsLmtX and P_FsLmtD values are reset simultaneously.
(4) The value is 0 for all axes if the force sensor is not connected.
11.7
.
Status Variables Relating Force Sense Detection Function 11-139
11 Language Specifications