Status Variables Relating Force Sense Detection Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11 Language Specifications

11.4 Status Variables Relating Force Sense Detection Function

This section describes MELFA-BASIC V status variables relating to the force sense detection function.
Status
No.
Variable
1 M_MoTrg Checks the Mo trigger enabled/disabled status and the
trigger ON/OFF status while enabled.
2 M_FsLmtS Checks whether the force sensor data force detection setting
value has been exceeded.
3 P_FsLmtR Checks the status of the current force sensor data with
respect to the force sensor data force detection setting value.
4 P_FsLmtX Checks/resets axes for which the force sensor data force
detection setting value is exceeded.
5 P_FsLmtP Checks/resets the robot FB position when the force sensor
data force detection setting value is exceeded.
6 P_FsLmtD Checks/resets the force sensor data when the force sensor
data force detection setting value is exceeded.
7 P_FsMaxD Checks/resets the force sensor maximum data value during
force sense control.
8 P_FsCurD
Checks the current force sensor data.
9 P_FsCurP
Checks the current position command offset with force sense
control.
10 M_FsRsltF
Checks the current force sensor resultant force (Fx, Fy, Fz).
11 M_FsRsltM
Checks the current force sensor resultant moment (Fx, Fy,
Fz).
12 M_FsCSts
Checks the force sense control enabled/disabled status.
11-156 Status Variables Relating Force Sense Detection Function
Table 11-7 Force sensor function related status variables
Function Overview Class
Mo trigger
Status display
Data latch
Data referencing