Default Parameter Settings - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

6.5 Default Parameter Settings

Set the following parameters after turning ON the power. (Settings can be specified efficiently using the RT
ToolBox2 / R56TB / R57TB parameter setting screen. → See section
After setting all parameters, reboot the controller. Settings are updated by rebooting.
Parameter
Parameter
Name
Force sense AXJNO
interface unit
recognition
AXMENO
Calibration FSXTL
FSHAND
Force sensor FSLMTMX
tolerance
Force sense FSCORMX
control offset limit
Force sensor FSFLCTL
data filter
Force sensor FSMINCTL
minimum control
force
Each setting item is described below.
Table 6-1: Default parameters
No. of
Elements
16 Assigns the force sense interface unit connection.
integers See section 6.5.1
16
integers
6 real Performs force sensor attachment calibration.
numbers See section 6.5.2
1 integer
6 real Sets the force sensor tolerance.
numbers See section 6.5.3
2 real Sets the "maximum position offset" based on force
numbers sense control.
See section 6.5.4
1 real Sets the filter time constant for force sensor data control.
number See section 6.5.5
6 real Sets the minimum control force of the force sensor.
numbers See section 6.5.6
(Controller Ver. R6h/S6h or later)
6 Device Connection, Wiring, and Settings
12.2 or 12.3
Description
for details on the setting method.
for details on the setting method.
for details on the setting method.
for details on the setting method.
for details on the setting method.
for details on the setting method.
.)
Factory Default
Setting
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
0.0, 0.0, 0.0,
0.0, 180.0, 0.0
(vertical multi-joint
robots)
0.0, 0.0, 0.0,
0.0, 0.0, 180.0
(horizontal
multi-joint robots)
0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
10.0, 10.0
1.7
0.3, 0.3, 0.3,
0.03, 0.03, 0.03
Default Parameter Settings 6-35