Control Characteristics Change Commands - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

Control characteristics Change Commands

8.1.4
The "control characteristics " (force sense control gain, force specification value/limit value, speed command
value, mode switching judgment value, force detection setting value) settings can be changed while force sense
control is enabled using the MELFA-BASIC V language FsGChg and FsCTrg commands.
Changing the "control characteristics " during movement facilitates work with a great degree of freedom. (The
"control mode" cannot be changed until the Fsc Off command has been executed.)
Refer to "Chapter 11 Language Specifications" for details on each command.
FsGChg (Fs gain change)
[Function]
Changes the control features of force sense control during movement.
[Syntax]
FsGChg  <Change start position>, <Change time>, <Control features No. after change>
[Terminology]
<Change start position>
Specifies the position at which the change to the control features setting is started.
Specify with a percentage for the next interpolation start point → end point.
Setting range: 0 to 100 [%]
<Change time>
Specifies the time taken to change the control features setting.
The mode switching judgment value and force detection setting value changes immediately, regardless of this
setting.
Setting range: 1 to 1000 [ms]
<Control features No. after change>
Specifies the control features value for which the force control gain, force command value, and force detection
setting value, speed command value and mode switching judgment value are set after the change.
Setting range: -1 to 9
Start point
始点
8-60 Force Sense Control
30%
Force detection setting value changes immediately.
力検知設定値は即時切替
Example) in case of the change start position set at 30%
例：切替開始位置が 30%の場合
Force control gain change start
力制御ゲイン切替開始
End point
終点