Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 174

11 Language Specifications
P_FsLmtD
[Function]
Checks/resets the force sensor data when the force sensor data force detection setting value is exceeded.
[Syntax]
Example) <Position variable>= P_FsLmtD
Example) P_FsLmtD =<Position variable>
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
300 If P_FsLmtX.X=1 Then P_FsFLmt.X=P_FsLmtD.X * 0.8
detection setting value:
'80% of the exceeded value is set as the new force detection setting value.
[Description]
(1) Checks force sensor data when the force sensor data's absolute value exceeds the force detection setting
value for the first time.
(2) The default status (when power ON) is 0 for all axes. A value is set when the force detection setting value is
exceeded while the force sense control function is enabled, and that value is then reset to 0 for all axes in
the following cases.
• When force sense control is enabled. (Execute the Fsc On command and enable force sense control
with the teaching pendant.)
• When the robot servo is turned from OFF to ON while force sense control is enabled.
• When operation (3) below is performed.
(3) By substituting (any position variable value is okay) a position variable for P_FsLmtD, the value can be
reset. By resetting, the P_FsLmtX and P_FsLmtP values are reset simultaneously.
(4) The value is 0 for all axes if the force sensor is not connected.
11-162 Status Variables Relating Force Sense Detection Function
'If X-direction sensor data exceeds the force