Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 194 / 212

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Parameter
Parameter
Name
No. of
Elements
Description
Factory Default
Setting
Force sense
control
coordinate
system
FSCOD01-
09
1 integer Specifies the force sense coordinate system.
0: Tool coordinate system
1: XYZ coordinate system
[Setting range]: 0, 1
0
Force sense
control mode
FSFMD01-
09
8 integers Selects the force sense control mode for each
coordinate system axis.
0: Position control
1: Force control
2: Stiffness control
3: Limited stiffness control
[Setting range]: 0, 1, 2, 3
0, 0, 0, 0,
0, 0, 0, 0
Stiffness
coefficient
FSSTF01-09 8 integers Sets the stiffness coefficient for force sense
control (stiffness control).
[Setting range]: 0.0 - 1000.0
[Setting unit]: X, Y , Z axes = N/mm
A, B, C axes = N·m/deg
(This setting is not required for axes for which
stiffness control is not selected.)
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0
Damping
coefficient
FSDMP01-
09
8 real
numbers
Sets the damping coefficient (responsiveness)
for force sense control.
[Setting range]: 0.0 - 1.0
[Setting unit]: X, Y , Z axes = N/(mm/s),
A, B, C axes = N·m/(deg/s)
Force sensor
bias value
FSBIAS01-
09
6 real
numbers
Sets the bias value used for gravity offset
cancel.
1st element: Force sensor data Fx bias value [N]
2nd element: Force sensor data Fy bias value [N]
3rd element: Force sensor data Fz bias value [N]
4th element: Force sensor data Mx bias value [N·m]
5th element: Force sensor data My bias value [N·m]
6th element: Force sensor data Mz bias value [N·m]
(These values because these are set
automatically by the force calibration function,
so you do not need to be set again.)
0.0, 0.0, 0.0,
0.0, 0.0, 0.0