Condition Groups And Condition Numbers; Setting Method - Mitsubishi Electric MELFA BFP-A3614 Manual

5.3 Condition Groups and Condition Numbers

(1) Setting method

All parameter settings are classified by "condition groups" consisting of the control mode and control
characteristics, and "condition numbers." -1 to 9. When specifying conditions with the Fsc On
command, they are specified with a combination of these "condition groups" and "condition numbers."
Each parameter can be set by setting in the program (set as status variable) or setting in the
parameter settings.
The condition numbers "-1" and "0" are set by substituting to the status variable. The condition
numbers "1" to "9" are set in the parameters.
Fsc On
，<Control mode>, <Control characteristics >,<Offset cancel designation>
Program example
1 Servo On
2 Mov PStart
3 Dly 1
Fsc On, 1, -1, 1
4
5 Dly 10
Condition group <Control mode>
Setting Item
Force sense control
coordinate system
Force sense control mode
Stiffness coefficient
Damping coefficient
Force sensor bias value
Load center of gravity position
Load mass
Condition group <Control characteristics>
Setting Item
Force command value/limit value
Speed command value
Mode switching judgment value
Force sense control gain
Force detection setting value
Control characteristics
Control mode
-1
M_FsCod1
P_FsMod1
P_FsStf1
P_FsDmp1
P_FsBias1
P_FsGrPos1
M_FsMass1
-1
P_FsFCd1
P_FsSpd1
P_FsSwF1
P_FsGn1
P_FsFLm1
Example)
When starting the force sense control using the
condition settings inside the bordered line in the
following table, set "1" for <Control mode>, and
"-1" for <Control characteristics> of Fsc On
command.
Condition Numbers.
0
M_FsCod0 FSCOD01
P_FsMod0 FSFMD01
P_FsStf0 FSSTF01
P_FsDmp0 FSDMP01
P_FsBias0 FSBIAS01
P_FsGrPos0 FSGRP01
M_FsMass0 FSMASS01
(# corresponds to group Nos. 2 to 9.)
Condition Numbers.
0
P_FsFCd0 FSBIAS01
P_FsSpd0 FSGRP01
P_FsSwF0 FSMASS01
P_FsGn0 FSFCMD01
P_FsFLm0 FSSPD01
(# corresponds to group Nos. 2 to 9.)
-47-
1 2 to 9
FSCOD0#
FSFMD0#
FSSTF0#
FSDMP0#
FSBIAS0#
FSGRP0#
FSMASS0#
-1
2～9
FSBIAS0#
FSGRP0#
FSMASS0#
FSFCMD0#
FSSPD0#