11 Language Specifications
P_FsLmtD
[Function]
Checks/resets the force sensor data when the force sensor data force detection setting value is exceeded.
[Syntax]
Example)
<Position variable>= P_FsLmtD
Example)
P_FsLmtD =<Position variable>
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
300 If P_FsLmtX.X=1 Then P_FsFLmt.X=P_FsLmtD.X * 0.8
detection setting value:
'80% of the exceeded value is set as the new force detection setting value.
[Description]
(1) Checks force sensor data 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 (any position variable value is okay) a position variable for P_FsLmtD, the value can be
reset. By resetting, the P_FsLmtX and P_FsLmtP values are reset simultaneously.
(4) The value is 0 for all axes if the force sensor is not connected.
11-140 Status Variables Relating Force Sense Detection Function
'If X-direction sensor data exceeds the force