Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 64

8 Using the Force Sense Function (Programming)
All parameter settings are classified by "condition groups" consisting of the control mode and control
characteristics, and "condition Nos." constituting numbers -1 to 9. When specifying conditions with the Fsc On
command, they are specified with a combination of these "condition groups" and "condition Nos."
Statement structure:FscOn, <Control mode>, <Control characteristics >, <Offset cancel designation>
If, for example, using the condition settings highlighted by the red boxes in Table 8-5 to start force sense control,
set "1" for the "Control mode" argument and "-1" for the <Control characteristics > argument. (See section
for detail on <Offset cancel designation".)
Setting Item
Control Force sense control
mode coordinate system
Force sense control
mode
Stiffness coefficient
Damping coefficient
Force sensor bias
value
Load
gravity position
Load mass
Control Force command
characteri value/limit value
stics
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
(# corresponds to group Nos. 2 to 8.)
8-52 Force Sense Control
Table 8-5: Condition groups and condition Nos.
Condition No.
-1
M_FsCod1
P_FsMod1
P_FsStf1
P_FsDmp1
P_FsBias1
center of
P_FsGrPos1
M_FsMass1
P_FsFCd1
P_FsSpd1
P_FsSwF1
P_FsGn1
P_FsFLm1
0 1
M_FsCod0
FSCOD01
P_FsMod0
FSFMD01
P_FsStf0 FSSTF01
P_FsDmp0 FSDMP01
P_FsBias0 FSBIAS01
P_FsGrPos0 FSGRP01
M_FsMass0 FSMASS01
P_FsFCd0
FSFCMD01
P_FsSpd0
FSSPD01
P_FsSwF0
FSSWF01
P_FsGn0
FSFGN01
P_FsFLm0
FSFLMT01
8.1.3
2 to 8 9
FSCOD0# FSCOD09
FSFMD0# FSFMD09
FSSTF0# FSSTF09
FSDMP0# FSDMP09
FSBIAS0# FSBIAS09
FSGRP0# FSGRP09
FSMASS0#
FSMASS09
FSFCMD0# FSFCMD09
FSSPD0# FSSPD09
FSSWF0# FSSWF09
FSFGN0# FSFGN09
FSFLMT0# FSFLMT09