Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 63

Force
command
value/limit
value
Speed
command
value
Control
characteristics
Mode
switching
judgment value
Force sense
control gain
Force
detection
setting value
For those settings items that are underlined, setting is required for each coordinate axis of the force

sense coordinate system. This corresponds to X, Y, Z, A, B, and C in this order from the 1st element of
parameters and status variables. (Coordinate system definition is based on the "force sense control
coordinate system".)
There is no need to reboot the controller after writing parameters relating to control mode/control

characteristics. (Settings are immediately updated.)
Settings can be specified efficiently using the RT ToolBox2/R56TB/R57TB force sense function

parameter setting screen. (See section
The value has different roles in the force control and
thelimited stiffness control.
[In the case of force control]
Sets the force command for force sense control. (See
section 8.1.2.5 .)
[Setting range]: - force sensor tolerance value to +
force sensor tolerance value
[Setting unit]: X, Y, Z component = N
A, B, C component = N·m
(This setting is not required for axes for which force
control is not selected.)
[In the case of the stiffness control with limit]
Sets the limit value for the limited stiffness control. (See
section 8.1.2.6 .)
[Setting range]: 0 to + force sensor tolerance value
[Setting unit]: X, Y, Z, L1 component = N
(L1 component sets the limit value
for the resultant force.)
A, B, C, L2 component = N·m
(L2 component sets the limit value
for the resultant moment.)
(The value is not required in the axis that is not applying
the limited stiffness control.)
Sets the offset speed used in force sense control (force
control) speed priority mode. (See section
[Setting range]: 0.0 - 50.0 (0.0 only for 7th and 8th
elements)
[Setting unit]: X, Y, Z component = mm/s
A, B, C component = deg/s
If set to 0.0, force control for that axis will always be in
force priority mode.
(This setting is not required for axes for which force
control is not selected.)
Sets the judgment value for switching between the
force sense control (force control) speed priority and
force priority modes. (See section
[Setting range]: - force sensor tolerance value to +
force sensor tolerance value
[Setting unit]: X, Y, Z component = N
A, B, C component = N·m
If the setting is the same as the force command value
(parameter FSFCMD0 1 – 09), the mode for force
control will always be force priority for that axis.)
(This setting is not required for axes for which force
control is not selected.)
Sets the response sensitivity for force sense control.
(See section 8.1.2.9 .)
[Setting range]: 0.0 - 300.0
[Setting unit]: X, Y, Z axis component = 10
A, B, C axis component = 10
deg/(N·m)
Sets the force detection setting for interrupt signals and
data retention trigger for each coordinate axis. (See
section 8.1.2.10 .)
[Setting range]: 0.0 - force sensor tolerance value
[Setting unit]: X, Y, Z axis component = N
A, B, C axis component = N·m
12.2 or
8 Using the Force Sense Function (Programming)
8.1.2.7 .)
8.1.2.8 .)
mm/N
-3
-3
(# corresponds to group Nos. 1 to 9.)
12.3 .)
FSFCMD0# P_FsFCd0
P_FsFCd1
FSSPD0# P_FsSpd0
P_FsSpd1
FSSWF0# P_FsSwF0
P_FsSwF1
FSFGN0# P_FsGn0
P_FsGn1
FSFLMT0# P_FsFLm0
P_FsFLm1
Force Sense Control 8-51