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Chapter 8 Force Sense Function (Interrupt Processing)
8.1 Control mode/Control characteristics
(1) Control characteristics Change Commands (FsGChg/FsCTrg)
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 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.)
a) Changing the control characteristics during the movement (FsGChg)
FsGChg
<Change start position>, <Change time>, <Control characteristics No. after change>
Program example
Change the control characteristics to -1 at 30% (switching time: 500 ms)
Changes the control characteristics of force sense control during movement.
<Change start position>
Specifies the position at which the change to the control
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
The mode switching judgment value and force detection setting value changes
immediately, regardless of this setting.
Setting range: 1 to 1000 [ms]
<Control characteristics No. after change>
Specifies the control characteristics 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
FsGChg 30, 500, -1
Force detection setting value changes
:
Example
in case of the change start position set at 30%
-103-
characteristics
characteristics
Force control gain change start
setting is
setting.
End point
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