Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 105

Force Sense Log Data Transfer
■ Operation details
Transfers acquired log data files to the computer (FTP server).
Force sense log data is collected during force sense control.

Force sense log data is saved and saved log files are transferred to the computer.

■ Program example <Sample program F810.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+1.00,+1.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
'[Control characteristics (0)]
P_FsGn0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+5.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** < Log data acquisition > ***
Mov PStart
Dly 1
FsLog On
Fsc On, 0, 0, 1
Dly 10
Fsc Off
M1=Val(Left$(C_Time,2 ) + Mid$(C_Time,4,2 )+Right$(C_Time,2 ))
FsLog Off, M1
FsOutLog M1
End
■ Description
Starts log data acquisition by executing the FsLog On command.
1)
Ends log data acquisition by executing the FsLog Off command. (The log data file name is set for the
2)
argument. In this example, the current time is used to create the file name.)
The acquired log file is transferred to the computer by executing the FsOutLog command. (See section
3)
8.3.4 .)
Force sense log file [1.fsl]
Ethernet
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (X,Y,Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command (X,Y-axes: 0.0 N, Z-axis: 5.0 N)
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Force sense control enable (offset cancel designation)
'
'Force sense control enable
'Converts current time to numerical variable.
'Log file creation (File name: HHMMSS.fsl)
'Log file transfer
'
8 Using the Force Sense Function (Programming)
Computer (FTP server)
Robot controller
Force Sense log 8-93