Language Specifications; Commands Relating To Force Sense Control Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11 Language Specifications

This Chapter describes specifications for force sense control function related to MELFA-BASIC V commands
and status variables.
 Precautions when using status variables 
By directly referencing P variable A-, B-, and C-axis values as component data, they are read as
radian unit values. If reading values for each component and creating a program, unit conversion is
required. (See following example.)
<Example>
By replacing P_FsLmtR = (0, 0, 1, 2, 0, 0, 0, 0) A-axis component data for M1 such as M1 = P_FsLmtR.A, M1 is
replaced not by 2, but by 0.034906 (=2×π÷180). To replace M1 with 2, use the Deg function.
M1% = Deg(P_FsLmtR.A)
By changing parameter PRGMDEG setting to 1, the unit system when the P variable rotational axis component
data is referenced is deg, and therefore there is no need to use the Deg function. (Refer to instruction manual
"Detailed Description of Functions and Operation" for details on the Deg function and parameter PRGMDEG.)

11.1 Commands Relating to Force Sense Control Function

MELFA-BASIC V commands relating to the force sense control function are described below.
No. Command
1 Fsc On
2 Fsc Off
3 FsGChg
4 FsCTrg
Table 11-1: Force sense control commands
Enables the force sense control function using force sensor.
Disables the force sense control function using force sensor.
Changes control characteristics for force sense control during operation.
Sets force sense control characteristics switching with the Mo trigger.
Function Overview
Commands Relating to Force Sense Control Function 11-135

11 Language Specifications