Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 72 / 212

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(6) Specifying the damping coefficient (P_FsDmp0/P_FsDmp, FSDMP0#)
Set the damping coefficient when the robot vibrates at hand and workpiece contact, or when
setting the response of the axis to which the force control and stiffness control are selected.

Used when the vibration does not stop even the force sense control gain is adjusted.

The greater the value, the greater the effect in suppressing vibrations, however, positional
offsetting is delayed with sudden changes in force, resulting in a greater force applied the
moment contact is made with the workpiece.

Adjust the damping coefficient after adjusting the force sense control gain.
(Vibrations also occur if the force sense control gain is too great.)
P_FsDmp0 / P_FsDmp1 = (
△
,
△
,
△
,
△
,
△
,
△
,0,0)(0,0)
△
= 0.0 to 1.0
X, Y, Z
  
[N / (mm/s)]
A, B, C
  
[N·m / (deg/s)]
P_FsDmp0=(+0.01,+0.01,+0.00,+0.00,+0.00,+0.00)(0,0)
Damping coefficient: Specify 0.01 [N/(mm/s)] for X, Y-axis component.
Program example