Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 171

P_FsLmtR
[Function]
Checks the status of the current force sensor data with respect to the force sensor data force detection
setting value.
[Syntax]
Example) <Position variable>= P_FsLmtR
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
Refer to examples in section
[Description]
(1) Displays where the current force sensor data lies in the status shown in the following diagram with respect
to the force detection setting value.
Sensor
absolute
limitation
(2) If force sense control is disabled, the value is 0 for all axes. When force sense control is enabled, the value
is -2, -1, 1, or 2.
(3) Axis correspondence is as follows: Fx=X-axis, Fy=Y-axis, Fz=Z-axis, Mx=A-axis, My=B-axis, Mz=C-axis.
(4) The value is 0 for all axes if the force sensor is not connected.
11.9 .
data
(2)
value
Force
(1)
(-2)
Sensor data absolute values are:
(-2) Force limitation value or less
(+1) Conversion to value greater
than force limitation value
(-1)
(+2) Greater than force limitation
value
(-1) Conversion to value less than
or equal to force limitation
value
Status Variables Relating Force Sense Detection Function 11-159
11 Language Specifications