Details Of Force Sensor Parameter; Force Sensor Parameter List - Mitsubishi Electric MELFA BFP-A3614 Manual

4.4 Details of Force Sensor Parameter

Force sensor parameter list
Parameter
Parameter
Force sense AXJNO
interface unit
recognition
AXMENO
Calibration FSXTL
FSHAND
Force sensor FSLMTMX
tolerance
Force sense FSCORMX
control offset limit
Force sensor data FSFLCTL
filter
Force sensor FSMINCTL
minimum force
control
No. of
Name Elements
16 Assigns the force sense interface unit
integers connection.
Refer to:
16
integers
6 real Calibrates the force sensor installation.
number
Refer to:
1 integer
6 real Sets the tolerance value of the force
number sensor.
Refer to:
value (FSLMTMX)
2 real Sets the "maximum position offset" by
number the force sense control.
Refer to:
offset value (FSCORMX)
1 real Sets the filter time constant for the force
number sense data control.
Refer to:
6 real Sets the "minimum control force" of the
number force sensor.
(Controller Ver.R6h/S6h and later)
Refer to:
Description
Chapter4 4.4 (1) Robot number
(AXMENO), axis number (AXJNO)
Chapter4 4.4 (2) Calibration
Chapter4 4.4 (4) Tolerance
Chapter4 4.4 (3) Maximum
Chapter4 4.4 (5) Filter time
constant (FSFLCTL)
Chapter4 4.4 (6) Force Sensor
Minimum Control Force
(FSMINCTL)
-35-
Factory Default
Setting
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
0.0, 0.0, 0.0,
0.0, 180.0, 0.0
(vertical multi-joint
robots)
0.0, 0.0, 0.0,
0.0, 0.0, 180.0
(horizontal
multi-joint robots)
0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
10.0, 10.0
1.7
0.3, 0.3, 0.3,
0.03, 0.03, 0.03