Mitsubishi Electric MELFA BFP-A3614, Manual

Page: 192 / 212

-181-
Appendix 7 Parameter
Appendix 7.1 Setting Parameters and Status Variables for Force Sense Control
Conditions
Parameter
Parameter
Name
No. of
Elements
Description
Factory Default
Setting
Set axis No. AXJNO 16
integers
Sets the force sense interface unit or
additional axis number for the element
corresponding to the servo control axis
number being used.
<If using force sense interface unit>
Servo control axis No.: Set "9" for axis No.1.
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
Mechanical
No.
designation
AXMENO 16
integers
Enter a mechanical number corresponding to
the servo control axis number being used.
Always set "0" for axes that are not being
used.
<If using force sense interface unit>
Servo control axis No.: Set "1" for axis No.1.
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0
Force sensor
coordinate
system
selection
FSHAND 1 integer Selects the force sensor coordinate system
hand system (left-hand system/right-hand
system).
The force sensor coordinate system hand
system differs depending on the sensor
attachment direction, and therefore it is
necessary to change the setting based on the
attachment direction.
Set the left-hand system for recommended
attachment.
0
Force sensor
attachment
position
FSXTL 6 real
numbers
Sets the positional relationship for the
mechanical interface coordinate system and
force sensor coordinate system.
1st element: X-axis direction coordinate system
origin offset [mm]
2nd element: Y-axis direction coordinate system
origin offset [mm]
3rd element: Z-axis direction coordinate system
origin offset [mm]
4th element: Coordinate axis rotation angle around
X-axis [deg]
5th element: Coordinate axis rotation angle around
Y-axis [deg]
6th element: Coordinate axis rotation angle around
Z-axis [deg]
0.0, 0.0, 0.0,
0.0, 180.0, 0.0
(vertical
multi-joint
robots)
0.0, 0.0, 0.0,
0.0, 0.0, 180.0
(horizontal
multi-joint
robots)
0: Force sensor coordinate system left-hand system
1: Force sensor coordinate system right-hand system
<Left-hand system> <Right-hand system>