Mitsubishi Electric MELFA BFP-A3614, Manual

Page: 14 / 212

-3-
Chapter 1 Force Sensor Specifications and Configuration
1.1 Force Sensor Specifications
There are two types (rated load: 200 N and 1000 N) of force sensors.
(1) Specifications of the force sensor
Item Unit Specification Value Remarks
Model - 1F-FS001-W200 1F-FS001-W1000
Rated load (*1)
Fx, Fy, Fz
N 200 1000
Be sure to set the
value within the rated
load to the FSLMTMX
(force sensor permissible
value) parameter.
Mx, My, Mz Nm
4 30
Resolution
(Minimum
control force)
Fx, Fy, Fz
N Approx. 0.03 Approx. 0.15
Mx, My, Mz Nm
Approx. 0.0006 Approx. 0.0046
Minimum
control
force (*2)
Fx, Fy, Fz
N 0.3
This value can be
changed by the
FSMINCTL (force sensor
minimum control force)
parameter.
Mx, My, Mz Nm
0.03
Consumption current
mA 200
Output form
- RS422
Weight (sensor unit)
g 360 580
External dimensions
mm φ 80×32.5 φ 90×40
Protective structure - IP30
*1: When 1F-FS001-W200 is used with RV-7/13/20FR
,
RV-7/13/20F robot, the moment beyond the
moment rated load of the force sensor is applied if the tool/workpiece of the robot's maximum
load mass is grasped and its hand posture is set vertically to the installation surface (the robot
set on the floor).
Use the force sensor with the hand posture at which the moment does not exceed the moment
rated load (for example, with the hand posture facing downward).
*2: Minimum value of force or moment for force sense control.
Caution
When a load beyond the rated load is applied repeatedly, distortion occurs
gradually inside the sensor. Therefore, the force cannot be detected precisely.
Use the force sensor with a load within the rated range.