Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 119

9.1.1.2 Selecting the Control Mode/Control characteristics
Before enabling force sense control, it is necessary to set the force sense control "control mode" and "control
characteristics " (parameters/status variables shown in Table 9-3) beforehand. (See section
Setting Item
Control Force sense control
mode coordinate system
Force control mode
Stiffness coefficient
Damping coefficient
Control Force command value
charact (force control)
-eristics Limit value (Limited
stiffness control)
Speed command value
Mode switching
judgment value
Force sense control gain
Force detection setting
value
[Control mode/ Control characteristics selection operation]
Specify the used "control mode" and " control characteristics " number.
•
Ensure that the numbers used have been set correctly before enabling force sense control.
•
R32TB/R33TB
JOG operation screen
Condition settings screen
Table 9-3: Control mode/Control characteristics settings
Status
Variable
(*=0, 1)
M_FsCod*
P_FsMod*
P_FsStf*
P_FsDmp*
P_FsFCd*
P_FsSpd*
P_FsSwF*
P_FsGn*
P_FsFLm*
[FUNCTION] key
[F3] key: Force sense
[F2] key: Conditions
9 Using the Force Sense Function (Teaching)
Parameter Default Factory Setting
(#=1 - 9)
FSCOD0# 0
FSFMD0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSSTF0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSDMP0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSFCMD0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSSPD0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSSWF0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSFGN0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
FSFLMT0# 0.00, 0.00, 0.00, 0.00, 0.00, 0.00
R56TB/R57TB
Specify the "control mode"
and "control features" number.
8.1.2 for details.)
By pressing the [F] key, a
force sense control screen
appears.
Force Sense T/B 9-107