Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 153

FcCTrg (FsC trigger)
[Function]
Sets force sense control characteristics switching with the Mo trigger.
[Syntax]
FsCtrg <Trigger No.>, <Change time>, <Control characteristics group No. after change>
[Terminology]
<Trigger No.>
<Change time>
<Control characteristics group No. after change>
<Timeout> Specifies the Mo trigger timeout monitoring time with a constant.
<Execution method> Specifies the timeout monitoring execution method for this command with a constant.
<Error specification> Specifies whether an error occurs following a timeout.
[Example]
1 Def MoTrg 3, (P_Fbc.Z < 100)
2 Fsc On, 1, 1, 1
3 FsCTrg 3, 100, 2
4 Mvs P1
[Description]
(1) Sets force sense control characteristics switching with the Mo trigger.
(2) By executing this command, the Mo trigger for the specified trigger No. is enabled, and the control
characteristics is changed when the trigger turns ON. When the control characteristics change is complete,
the change setting with this command will become unset.
(3) If this command is executed when the Mo trigger is disabled, the Mo trigger for the specified trigger No. is
enabled.
(4) If the Mo trigger for the specified trigger No. is undefined, an error occurs when the program is run. (Error
L.3770)
(5) If an Mo trigger for a different No. than that specified for <Trigger No.> is currently enabled, the enabled
trigger is disabled, and the Mo trigger specified for <Trigger No.> is enabled.
(6) After starting the change, the control characteristics "force sense control gain" and "force specification
value", and "speed command value" are changed to linear values toward the <Control characteristics group
No. after change> control characteristics setting, over the time set in <Change time>.
The "force detection setting value" and "mode switching judgment value" change immediately, regardless of
this setting.
(7) If a <Timeout> is specified, an error occurs after executing this command if the Mo trigger turns ON and
[, <Timeout>，<Execution method> [, <Error specification>]]
Specifies the Mo trigger No. used to change the control characteristics with a constant.
Setting range: 1 - 3
Specifies the time taken to change the control characteristics.
The force detection setting value and mode switching judgment value change
immediately, regardless of this setting.
Setting range: 1 – 1000 [ms]
Specifies the control characteristics group No. applied after the change.
Setting range: -1 to 9
Setting range: 0 – 60 [s]
If omitted, timeout processing is not performed.
0: Proceeds to next program without waiting for Mo trigger ON.
1: Does not proceed to next program until Mo trigger turns ON or timeout reached.
0: Error occurs.
1: Error does not occur.
An error occurs following a timeout if omitted.
'Defines Mo trigger No.3.
'Enables force sense control.
'Enables Mo trigger No.3 and changes the control characteristics from 1 to 2 when the trigger turns ON.
Commands Relating to Force Sense Control Function 11-141
11 Language Specifications