Mitsubishi Electric MELFA FR CR800 Series User Manual page 234

13.3.14.3. Force control characteristics parameters
Double-click [Movement parameter] -> [Force control] -> [Force control characteristics] under the [Parameter]
item to be edited from the project tree.
Set the parameters, [Force gain], [Force cmd.], and [Force detection] which are used by the control
characteristics of the force control function.
The controllers which can set the parameters [Mode switch judgment] and [Speed command] are as follows.
Table 13-11 The controller which can set the parameters [Mode switch judgment] and [Speed command]
You can reference explanations of the displayed parameters by pressing the [Explain] button.
After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the
[Write] button.
13.3.14.4. Force log parameters
Double-click [Movement parameter] -> [Force control] -> [Force log] under the [Parameter] item to be edited from
the project tree.
Set the parameters, [Configuration] and [FTP setting] which are used by the force control function.
You can reference explanations of the displayed parameters by pressing the [Explain] button.
After you change the parameter values, you can rewrite the parameters in the robot controller by clicking the
[Write] button.
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Robot controller
CR800-D/CR800-R/CR800-Q
CR750-D/CRnD-700
CR750-Q/CRnQ-700
Figure 13-34 Force control characteristics parameter
Figure 13-35 Force log parameter
Software version of robot controller
All versions
Ver.S3g or later
Ver.R3g or later
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