Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 176

11 Language Specifications
P_FsCurD
[Function]
Checks the current force sensor data.
[Syntax]
Example) <Position variable>= P_FsCurD
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
100 Def Act 1, P_FsCurD.Z > 10 GoTo *INTR1, S
'If the Z-direction sensor data exceeds 10 N, an interrupt used to perform interrupt processing
*INTR1 is defined.
200 M_DOut(6000)=P_FsCurD.X * 100
'Multiplies the X-axis sensor data value by 100 (converts unit to 0.01 N).
'Writes to CC-Link output register 6000.
[Description]
(1) Displays the current force sensor data.
(2) Force sensor data converted to the tool coordinate direction is normally displayed; however, if force sense
control is enabled in XYZ coordinate mode, force sensor data converted to the XYZ coordinate direction is
displayed. Furthermore, the offset cancel (zero point offset) result is updated.
(3) The current force sensor data can be checked even if the force sense control function is disabled.
(4) The value is always 0 for all axes if the force sensor is not connected.
11-164 Status Variables Relating Force Sense Detection Function