Usage Example (Force Sense Control) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

Usage Example (Force Sense Control)

8.1.5
This section describes the specific usage method for each function using sample programs.
<Control mode / control characteristics settings>
The sample programs described below set the "control mode" and "control characteristics " using status
variables. The same settings are also possible using parameters and should be substituted as appropriate. (See
following compatibility table.)
Setting Item
Control
mode
Control
charact
eristics
Caution
8-62 Force Sense Control
Force sense control
coordinate system
Force sense control
mode
Stiffness coefficient
Damping coefficient
Force sensor bias
value
Load center of
gravity position
Load mass
Force command
value
Limit value
Speed command
value
Mode switching
judgment value
Force sense control
gain
Force detection
setting value
( : Setting required, △ : Set as required, × : No setting required)
The sample programs contained in this manual have been prepared for the purpose
of understanding force sense functionality, and operation stability cannot be
guaranteed. If using a sample contained in this manual on an actual system, please
use with a sufficient understanding of the program content. Furthermore, the
appropriate values for force sense control gain and damping coefficient, etc will vary
greatly depending on the working environment, and therefore adjustments should be
made with care.
Status Parameter
Variable (#=1 to 9)
(*=0, 1)
M_FsCod* FSCOD0#
P_FsMod* FSFMD0#
P_FsStf* FSSTF0#
P_FsDmp* FSDMP0#
P_FsBias* FSBIAS0#
P_FsGrPos* FSGRP0#
M_FsMass* FSMASS0#
P_FsFCd* FSFCMD0#
P_FsSpd* FSSPD0#
P_FsSwF* FSSWF0#
P_FsGn* FSFGN0#
P_FsFLm* FSFLMT0#
Force Sense
Control Mode
   
   
× ×
 
×
△ △ △
△ △ △ △
△ △ △ △
△ △ △ △
× × ×

× × ×

× × ×

× × ×

×
  
△ △ △ △