Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 177

P_FsCurP
[Function]
Checks the position (force sense position command) offset with force sense control.
(Force sense position command = Position command calculated with movement command, etc. + position
offset with force sense control)
[Syntax]
Example) <Position variable>= P_FsCurP
[Terminology]
<Position variable> Specifies the substitute position variable.
[Example]
2000 PD=P_Curr – P_FsCurP
'Outputs the difference between the position command and force sense position command.
2010 MD=Sqr(PD.X*PD.X + PD.Y*PD.Y + PD.Z*PD.Z)
'Outputs the interpolation distance.
[Description]
(1) Checks the position offset with force sense control.
(2) If the force sense control function is disabled, the same value as P_Curr (position command) is output if the
force sensor is not connected.
Status Variables Relating Force Sense Detection Function 11-165
11 Language Specifications