
-47-
5.3 Condition Groups and Condition Numbers
(1) Setting method
All parameter settings are classified by "condition groups" consisting of the control mode and control
characteristics, and "condition numbers." -1 to 9. When specifying conditions with the Fsc On
command, they are specified with a combination of these "condition groups" and "condition numbers."
Each parameter can be set by setting in the program (set as status variable) or setting in the
parameter settings.
The condition numbers "-1" and "0" are set by substituting to the status variable. The condition
numbers "1" to "9" are set in the parameters.
Condition group <Control mode>
Setting Item
Condition Numbers.
-1
0
1
2 to 9
Force sense control
coordinate system
M_FsCod1
M_FsCod0
FSCOD01
FSCOD0#
Force sense control mode
P_FsMod1
P_FsMod0
FSFMD01
FSFMD0#
Stiffness coefficient
P_FsStf1
P_FsStf0
FSSTF01
FSSTF0#
Damping coefficient
P_FsDmp1
P_FsDmp0
FSDMP01
FSDMP0#
Force sensor bias value
P_FsBias1
P_FsBias0
FSBIAS01
FSBIAS0#
Load center of gravity position P_FsGrPos1
P_FsGrPos0
FSGRP01
FSGRP0#
Load mass
M_FsMass1
M_FsMass0
FSMASS01
FSMASS0#
(# corresponds to group Nos. 2 to 9.)
Condition group <Control characteristics>
(# corresponds to group Nos. 2 to 9.)
Setting Item
Condition Numbers.
-1
0
-1
2
~
9
Force command value/limit value
P_FsFCd1
P_FsFCd0
FSBIAS01
FSBIAS0#
Speed command value
P_FsSpd1
P_FsSpd0
FSGRP01
FSGRP0#
Mode switching judgment value
P_FsSwF1
P_FsSwF0
FSMASS01
FSMASS0#
Force sense control gain
P_FsGn1
P_FsGn0
FSFCMD01
FSFCMD0#
Force detection setting value
P_FsFLm1
P_FsFLm0
FSSPD01
FSSPD0#
Fsc On
,
<Control mode>, <Control characteristics >,<Offset cancel designation>
Program example
1 Servo On
2 Mov PStart
3 Dly 1
4
Fsc On, 1, -1, 1
5 Dly 10
Example)
When starting the force sense control using the
condition settings inside the bordered line in the
following table, set "1" for <Control mode>, and
"-1" for <Control characteristics> of Fsc On
command.
Control mode
Control characteristics
Summary of Contents for MELFA BFP-A3614
Page 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
Page 2: ......
Page 34: ... 23 2 F series a CR750 D controller ...
Page 35: ... 24 b CR751 D controller ...
Page 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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