Mitsubishi Electric MELFA BFP-A3614, Manual

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9.3 Force Detection Status (M_FsLmtS, P_FsLmtR)
(1) M_FsLmtS
Status variable M_FsLmtS verifies whether the force has exceeded the force detection setting
value (P_FsFLm0/P_FsFLm1) specified with the "control characteristics" group. It can be used for
interrupt processing and so on when a collision occurs.
(2) P_FsLmtR
Status variable P_FsLmtR indicates the current status of the force sensor data against the force
detection setting value (P_FsFLm0/P_FsFLm1) specified with the "control characteristics" group.
Mvs P2 Wthif P_FsLmtR.X = 1, Skip
When the force in the X-direction exceeds the force detection setting value, the
next command is skipped with an interrupt.
M1=-1
Def Act 1, P_FsLmtR.Z=M1 GoTo *PCEN, S
Program example 2
When the force in the Z-direction becomes smaller than the force detection
setting value, this status variable defines that interrupt processing is executed.
Each component of P_FsLmtR = (-2 or +1 or +2 or -1)
The absolute value of sensor data is,
(+2) greater than the force limit value
(+1) changed to a greater value than
the force limit value
(-1) changed to a less value than the
force limit value
(-2) less than the force limit value
Program example 1
Force limitation
Sensor data
absolute
value
Program example
Def Act 1,M FsLmtS=1 GoTo *XMOV,S
Execute interrupt processing when the force detection setting value is exceeded
(P_FsFLm0/P_FsFLm1)
M_FsLmtS = 0 or 1
0: Force detection setting value not exceeded
1: Force detection setting value exceeded