Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 158

11 Language Specifications
P_FsStf0, P_FsStf1
[Function]
Specifies/references the stiffness coefficient for force sense control (stiffness control).
[Syntax]
Example) P_FsStf0=<Position variable 1>
Example) <Position variable 2>=P_FsStf1
[Terminology]
<Position variable 1> Specifies the stiffness coefficient for force sense control (stiffness control).
<Position variable 2> Specifies the save destination for the read stiffness coefficient.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the stiffness coefficient for stiffness control contained in the condition group (control
mode).
(2) The specified value is used if the Fsc On command <control mode> is set to "-1" or "0".
(3) Default status: The parameter FSSTF01 setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) When force sense control is enabled with <control mode> ="0", it is not possible to write P_FsStf0. (Error
L3987 occurs.)
(6) When force sense control is enabled with <control mode> = "-1", it is not possible to write P_FsStf1. (Error
L3987 occurs.)
(7) When no force sensor is connected, the value is not applied even if it is written. Also if the setting value is
read, always 0.0 is output for all elements.
11-146 Status Variables Relating to Force Sense Control Function
(The L1- and L2-axis components do not use this variable.)
Component
X, Y, Z
A, B, C
L1, L2
11.9 .
Setting Range
0.0 - 1000.0
0.0 - 1000.0
0.0
Unit
N/mm
N·m/deg
-