Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 201

Parameter
Parameter
Name
Force sensor FSMINCTL
minimum
force control
Force sensor FSEST01
calibration
～09
data
Control mode FSCOD01
- 09
FSFMD01
- 09
FSSTF01 -
09
FSDMP01
- 09
No. of
Elements
6 real Sets the minimum force controlfor the force sensor.
number
1st element: Minimum force control setting value for
force sensor Fx [N]
2nd element: Minimum force control setting value for
force sensor Fy [N]
3rd element: Minimum force control setting value for
force sensor Fz [N]
4th element: Minimum force control setting value for
force sensor Mx [Nm]
5th element: Minimum force control setting value for
force sensor My [Nm]
6th element: Minimum force control setting value for
force sensor Mz [Nm]
(Controller Ver. R6h/S6h or later)
12 real Sets the robot's posture and the force sensor data used
number for the force sensor calibration execution.
1st element: Robot position X [mm]
2nd element: Robot poisition Y [mm]
3rd element: Robot poisition Z [mm]
4th element: Robot posture A [deg]
5th element: Robot posture B [deg]
6th element: Robot posture C [deg]
7th element: Force sensor data Fx [N]
8th element: Force sensor data Fy [N]
9th element: Force sensor data Fz [N]
10th element: Force sensor data Mx [Nm]
11th element: Force sensor data My [Nm]
12th element: Force sensor data Mz [Nm]
(The value is updated at the FsGetDat command is
executed.)
1 integer Specifies the force sense coordinate system. (See
section 8.1.2.1 .)
0: Tool coordinate system
1: XYZ coordinate system
[Setting range]:
8 integers Selects the force sense control mode for each
coordinate system axis. (See section 8.1.2.2 .)
0: Position control
1: Force control
2: Stiffness control
3: Limited stiffness control
[Setting range]:
8 integers Sets the stiffness coefficient for force sense control
(stiffness control). (See section 8.1.2.3 .)
[Setting range]:
[Setting unit]:
A ,B, C axes = N·m/deg
(This setting is not required for axes for which stiffness
control is not selected.)
8 real Sets the damping coefficient (responsiveness) for force
numbers sense control. (See section 8.1.2.4 .)
[Setting range]:
[Setting unit]:
A ,B, C axes = N·m/(deg/s)
Description
0, 1
0, 1, 2, 3
0.0 - 1000.0
X, Y , Z axes = N/mm
0.0 - 1.0
X, Y , Z axes = N/(mm/s),
Force Sense Function Related Parameter List 12-189
12 Parameter Specifications
Factory Default
Setting
0.3, 0.3, 0.3,
0.03, 0.03, 0.03
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
0
0, 0, 0, 0,
0, 0, 0, 0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0