Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 157

P_FsMod0, P_FsMod1
[Function]
Specifies/references the force sense control mode for each axis.
[Syntax]
Example) P_FsMod0=<Position variable 1>
Example) <Position variable 2>=P_FsMod1
[Terminology]
<Position variable 1> Specifies the force sense control mode for each axis.
<Position variable 2> Specifies the save destination for the read control coordinate information.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the force sense control mode for each axis contained in the condition group (control
mode).
(2) The specified value is used if the Fsc On command <control mode> is set to "-1" or "0".
(3) Default status: The parameter FSFMD01 setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) When force sense control is enabled with <control mode> = "0", it is not possible to write P_FsMod0. (Error
L3987 occurs.)
(6) When force sense control is enabled with <control mode> = "-1", it is not possible to write P_FsMod1. (Error
L3987 occurs.)
(7) When no force sensor is connected, the value is not applied even if it is written. Also if the setting value is
read, always 0.0 is output for all elements.
Setting
0 Position control
1 Force control
2 Stiffness control
3 Limited stiffness control
11.9 .
Status Variables Relating to Force Sense Control Function 11-145
Mode
11 Language Specifications