Force Detection Status; Data Latch; Data Referencing - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Force Detection Status

8.2.2
M_FsLmtS
Status variable M_FsLmtSw checks whether the force detection setting value specified with the " control
characteristics " group has been exceeded. It can be used for interrupt processing and so on when a collision
occurs.
(Refer to section 11.3 for details on status variables.)
P_FsLmtR
Status variable P_FsLmtR outputs the status for each axis based on the force detection setting value specified
with the " control characteristics " group.
(Refer to section 11.3 for details on status variables.)
Sensor
data
absolute
value
Force
(1)
limitation
<Example 1>:
When the force in the X-direction exceeds the force detection setting value, the next command is skipped with
an interrupt.
Mvs P2 Wthif P_FsLmtR . X = 1, Skip
< Example 2>:
When the force in the Z-direction becomes smaller than the force detection setting value, this status variable
defines that interrupt processing is executed.
M1=-1
Def Act 1, P_FsLmtR.Z=M1 GoTo *PCEN, S

Data Latch

8.2.3
P_FsLmtX / P_FsLmtP / P_FsLmtD
Axis data, position data, and force sense data at the point the force sensor "force detection setting value" is
exceed is latched in status variables P_FsLmtX( ), P_FsLmtP( ), and P_FsLmtD( ).
(Refer to section 11.3 for details on status variables.)

Data Referencing

8.2.4
P_FsMaxD / P_FsCurD
The force sense data maximum and current values are stored in status variables P_FsMaxD( ) and P_FsCurD(
).
(Refer to section 11.3 for details on status variables.)
Sensor data absolute values are:
(2)
(-2) Force limitation value or less
(+1) Conversion to value greater
than force limitation value
(-1)
(+2) Greater than force limitation
value
(-1) Conversion to value less than
(-2)
or equal to force limitation value
8 Using the Force Sense Function (Programming)
Force Sense Detection 8-75