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9.5 Data Verification (P_FsMaxD / P_FsCurD)
The maximum value and current value of the force sensor data are stored.
All axes are 0 by default (at Power-ON). The value is set despite the force sense control function is
enabled or disabled. The value is retained when the position variable is substituted (any position
variable value), offset cancel is executed, or until reset is executed for the maximum value with the
teaching box.
When the force sensor is not connected, all axes are always 0.
(1) P_FsMaxD
Indicates the maximum value (maximum absolute value) of the force sensor data. (The maximum
value of each axis are retained.)
Program example
P1=P_FsMaxD
P_FsMaxD=P1
(2) P_FsCurD
Verifies the current force sensor data.
Program example
Def Act 1, P_FsCurD.Z > 10 GoTo *INTR1, S
When the sensor data in Z-direction exceeds 10 N, define an
interruption that executes interrupt processing *INTR1
<Position variable>= P_FsMaxD
P_FsMax = <Position variable>
Retain the maximum value of force sensor data
up to present to P1
Reset the maximum value
<Position variable>= P_FsCurD
P_FsCurD = <Position variable>
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