Force Sense Interface Unit Identification - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

6 Device Connection, Wiring, and Settings

Force Sense Interface Unit identification

6.5.1
It is necessary to set parameters at the robot controller side in order for the robot controller to recognize the
force sense interface unit. Set these parameters as follows. (The same parameters as that for the additional
axis function are used.)
Parameter Parameter
Name
Set axis No. AXJNO
Mechanical No. AXMENO
designation
Parameter with 16 elements:
Servo control axis No.: Axis No.1
Servo control axis No.: Axis No.2
Servo control axis No.: Axis No.3
Servo control axis No.: Axis No.4
Servo control axis No.: Axis No.5
Servo control axis No.: Axis No.6
Servo control axis No.: Axis No.7
Servo control axis No.: Axis No.8
6.5.1.1 If Not Using Additional Axis Functions
Set these parameters as follows if not using the additional axis functions.
AXJNO = (9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
AXMENO = (1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
6.5.1.2 If Using Additional Axis Functions
AXJNO = (9, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
AXMENO = (1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
<Connection example>
Robot
controller
1st station
The 1st station is used by the force sense interface unit, and therefore rotary switch 0 cannot be used for the
additional axis (MR-J3B). Set to 1 or onward.
Up to 7 additional axes (from 2nd to 8th stations) can be used.
6-36 Default Parameter Settings
No. of
Elements
16 Sets the force sense interface unit or additional axis
integers number for the element corresponding to the servo
control axis number being used.
<If using force sense interface unit>
Servo control axis No.: Set "9" for axis No.1.
16 Enter a mechanical number corresponding to the
integers
servo control axis number being used. Always set
"0" for axes that are not being used.
MR-J3B (J7-axis)
Force sense
(Rotary switch: 1)
interface unit
2nd station
...
Description
Not used
8th station
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