Mitsubishi CR750 Series Instruction Manual page 50

8 Using the Force Sense Function (Programming)
Force
command
value
Speed
command
value
Mode switching
judgment value
Control
characteristics
Force sense
control gain
Force detection
setting value

For those settings items that are underlined, setting is required for each coordinate axis of the force
sense coordinate system. This corresponds to X, Y, Z, A, B, and C in this order from the 1st element of
parameters and status variables. (Coordinate system definition is based on the "force sense control
coordinate system".)

There is no need to reboot the controller after writing parameters relating to control mode/control
characteristics. (Settings are immediately updated.)

Settings can be specified efficiently using the RT ToolBox2/R56TB/R57TB force sense function
parameter setting screen. (See section
8-40 Force Sense Control
Sets the force command for force sense control. (See
section 8.1.2.5 .)
[Setting range]: - force sensor tolerance value to +
force sensor tolerance value
[Setting unit]: X, Y, Z component = N
A, B, C component = N·m
(This setting is not required for axes for which force
control is not selected.)
Sets the offset speed used in force sense control (force
control) speed priority mode. (See section
[Setting range]: 0.0 - 50.0 (0.0 only for 7th and 8th
elements)
[Setting unit]: X, Y, Z component = mm/s
A, B, C component = deg/s
If set to 0.0, force control for that axis will always be in
force priority mode.
(This setting is not required for axes for which force
control is not selected.)
Sets the judgment value for switching between the force
sense control (force control) speed priority and force
priority modes. (See section
[Setting range]: - force sensor tolerance value to +
force sensor tolerance value
[Setting unit]: X, Y, Z component = N
A, B, C component = N·m
If the setting is the same as the force command value
(parameter FSFCMD0 1 – 09), the mode for force
control will always be force priority for that axis.)
(This setting is not required for axes for which force
control is not selected.)
Sets the response sensitivity for force sense control.
(See section 8.1.2.8 .)
[Setting range]: 0.0 - 300.0
[Setting unit]: X, Y, Z axis component = 10
A, B, C axis component = 10
deg/(N·m)
Sets the force detection setting for interrupt signals and
data retention trigger for each coordinate axis. (See
section 8.1.2.9 .)
[Setting range]: 0.0 - force sensor tolerance value
[Setting unit]: X, Y, Z axis component = N
A, B, C axis component = N·m
12.2 or
8.1.2.6 .)
8.1.2.7 .)
-3
mm/N
-3
(# corresponds to group Nos. 1 to 9.)
12.3 .)
FSFCMD0# P_FsFCd0
P_FsFCd1
FSSPD0# P_FsSpd0
P_FsSpd1
FSSWF0# P_FsSwF0
P_FsSwF1
FSFGN0# P_FsGn0
P_FsGn1
FSFLMT0# P_FsFLm0
P_FsFLm1