Mitsubishi CR750 Series Instruction Manual page 168

12 Parameter Specifications
Parameter
Parameter
Name
Force sense FSCORM
control offset X
limit
Force sensor FSFLCTL
data filter
Control mode FSCOD01
- 09
FSFMD01
- 09
FSSTF01
- 09
FSDMP01
- 09
Control FSFCMD
characteristics 01 - 09
FSSPD01
- 09
FSSWF01
- 09
12-158 Force Sense Function Related Parameter List
No. of
Elements
2 real Sets the maximum position offset for force sense control.
numbers 1st element: Position maximum offset [mm]
2nd element: Posture maximum offset [deg.]
[Setting range]
1st element: 0 to +200.0
2nd element: 0 to +150.0
1 real Sets the force sensor data filter time constant.
number [Unit]: ms
[Setting range]: 0 to +1000.0
1 integer
Specifies the force sense coordinate system. (See
section 8.1.2.1
0: Tool coordinate system
1: XYZ coordinate system
[Setting range]: 0, 1
8 integers
Selects the force sense control mode for each
coordinate system axis. (See section
0: Position control
1: Force control
2: Stiffness control
[Setting range]: 0, 1, 2
8 integers
Sets the stiffness coefficient for force sense control
(stiffness control). (See section
[Setting range]: 0.0 - 1000.0
[Setting unit]: X, Y , Z axes = N/mm
(This setting is not required for axes for which stiffness
control is not selected.)
8 real
Sets the damping coefficient (responsiveness) for force
numbers
sense control. (See section
[Setting range]: 0.0 - 1.0
[Setting unit]: X, Y , Z axes = N/(mm/s),
8 real
Sets the force command for force sense control (force
numbers
control). (See section
[Setting range]: - force sensor tolerance value to +
[Setting unit]: X, Y, Z component = N
(This setting is not required for axes for which force
control is not selected.)
8 real Sets the speed command value for force sense control
numbers (force control). (See section
[Setting range]: 0.0 - 50.0
[Setting unit]: X, Y, Z component = mm/s
(This setting is not required for axes for which force
control is not selected.)
8 real Sets the mode switching judgment value for force sense
numbers control (force control). (See section
[Setting range]: - force sensor tolerance value to +
[Setting unit]: X, Y, Z component = N
(This setting is not required for axes for which force
control is not selected.)
Description
.)
8.1.2.2
8.1.2.3 .)
A ,B, C axes = N·m/deg
8.1.2.4 .)
A ,B, C axes = N·m/(deg/s)
8.1.2.5 .)
force sensor tolerance value
A, B, C component = N·m
8.1.2.6 .)
A, B, C component = deg/s
8.1.2.7
force sensor tolerance value
A, B, C component = N·m
Factory Default
Setting
10.0, 10.0
1.7
0
0, 0, 0, 0,
0, 0, 0, 0
.)
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
.) 0.0, 0.0, 0.0,
0.0, 0.0