Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 127 / 212

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9.4 Data Latch (P_FsLmtX/P_FsLmtP/P_FsLmtD)
The axis data, position data, and force sense data at the point when they exceed the "force
detection setting value" of the force sensor are latched, and the values are retained until they are
reset in status variable P_FsLmtX( ), P_FsLmtP( ), P_FsLmtD( ).
Substitute position variable (any position variable value) to reset the value. By the reset
operation, the values of P_FsLmtX, P_FsLmtP, and P_FsLmtD are also reset simultaneously.
When the force sensor is not connected, all axes are always 0.
(1) P_FsLmtX
Verifies/resets the axis that exceeds the force detection setting value of the force sensor.
Indicates whether the absolute value of the force sensor data exceeds the force detection setting
value or not.
(2) P_FsLmtP
Verifies/resets the position that exceeds the force detection setting value of the force sensor.
(3) P_FsLmtD
Verifies/resets the force sensor data when exceeded the force detection setting value of the force
sensor.
Def Act 1, P_FsLmtX.Z=1 GoTo *ESCP,S
Execute interrupt processing when Z-axis direction exceeds the force
detection setting value
Program example
<Position variable>= P_FsLmtX
P_FsLmtX = <Position variable>
1: Axis element that has
exceeded
0: Axis element that has
not exceeded
(All axes are 0 by default.)
PX(M1)=P_FsLmtP
Retain the position that exceeds the force
detection setting value
Program example
<Position variable>= P_FsLmtP
P_FsLmtP = <Position variable>
MFD=P_FsCurD.Z-P_FsLmtD.Z
Calculate the force displacement when
exceeded the setting value (N)
Program example
<Position variable>= P_FsLmtD
P_FsLmtD = <Position variable>