Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 189

P_FsGrPos0, P_FsGrPos1
[Function]
Specifies/references the load center of gravity position used for the gravity offset cancel.
[Syntax]
Example) P_FsGrPos0= <Position variable 1>
Example) <Position variable 2>= P_FsGrPos1
[Terminology]
< Position variable 1> Specifies the load center of gravity position used for the gravity offset cancel.
< Position variable 2> Specifies the save destination for the read load center of gravity position.
[Example]
Refer to examples in section
[Description]
(1) Specifies/references the center of the gravity position of the load 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 "FSBIAS01" setting value is updated.
(4) The value substituted for the status variable is retained until the power is turned OFF.
(5) The estimated result is substituted when the FsHndEst Off command is executed after the FsHndEst On
command <control mode> is set to "-1" or "0".
(6) When the force sense control is enabled with <control mode> = "0", it is not possible to write P_FsBias0.
(An error L3987 occurs.)
(7) When the force sense control is enabled with <control mode> = "-1", it is not possible to write P_FsBias1.
(An error L3987 occurs.)
(8) 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.
11.9 .
Related Status Variables for Gravity Offset Cancel Function 11-177
11 Language Specifications