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(5) Filter time constant (FSFLCTL)
The force sensor data filter time constant can be changed.
When the sensor data is not stable or the robot vibrates during the force control, increasing the
constant solves the problem.
Increase the setting value···Decreases the vibration. However, because the sensor data delays,
Decrease the setting value···Reacts to the micro force properly, but the robot is more likely to
Parameter
Parameter
Name
Force sensor
FSFLCTL
data filter
(6) Force Sensor Minimum Control Force (FSMINCTL)
The minimum control force of force sensor can be changed.
Even if the force sensor does not touch the workpiece, etc. during force sense control, the robot
may vibrate due to stationary noise of sensor data. In this case, increasing the minimum control
force solves the problem.
However, increasing the minimum control force widens the dead zone. Therefore, the sensitivity of
the force sense detection/force sense control will be deteriorated.
Parameter
Parameter
Name
Force sensor
FSMINCTL
minimum
force control
the sensitivity of the force sense detection and force sense control are
lowered and the robot cannot react to micro force.
vibrate.
No. of
Elements
1 real
Sets the force sensor data filter time constant.
number
[Unit]: ms
[Setting range]: 0 to +1000.0
No. of
Elements
6 real
Sets the minimum control force of the force sensor.
1st element: Minimum control force of force sensor Fx [N]
numbers
2nd element: Minimum control force of force sensor Fy [N]
3rd element: Minimum control force of force sensor Fz [N]
4th element: Minimum control force of force sensor Mx [Nm]
5th element: Minimum control force of force sensor My [Nm]
6th element: Minimum control force of force sensor Mz [Nm]
-42-
Description
Description
Factory Default
Setting
1.7
Factory
Default Setting
0.3, 0.3, 0.3,
0.03, 0.03,
0.03
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