Force Sensor Control Offset Limit; Force Sensor Data Filter Setting - Mitsubishi CR750 Series Instruction Manual

Force Sensor Control Offset Limit

6.4.4
This parameter sets the position command offset upper limit for force sense control. If the offset exceeds this
upper limit, an error (H2760) occurs. This acts as a protection function for inadequate operation or setting, and
therefore the required minimum value should be set.
Parameter
Parameter
Name
Force sense FSCORMX
control offset
limit

Force Sensor Data Filter Setting

6.4.5
The force sensor data filter time constant can be changed. Sensor data that does not stabilize can be improved
by increasing the time constant, however, as this affects force sense control characteristics, the default value
should generally be used.
Parameter
Parameter
Name
Force sensor FSFLCTL
data filter
Table 6-4: Force sense control offset limit setting parameter
No. of
Elements
2 real Sets the maximum position offset for force sense
numbers control.
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
Table 6-5: Force sensor data filter parameter
No. of
Elements
1 real Sets the force sensor data filter time constant.
number [Unit]: ms
[Setting range]: 0 to +1000.0
6 Device Connection, Wiring, and Settings
Description
Description
Default Parameter Settings 6-31
Factory Default
Setting
10.0, 10.0
Factory Default
Setting
1.7