-53-
(2) Control mode and control characteristics setting compatibility table
The following is the compatibility table for the setting item of the control mode and control
characteristics when using the force control mode (position control, force control, stiffness
control).
Position control···Maintains the position and posture.
Force control···Continuously applies the specified force to the specified axis direction.
Stiffness control
···
Decreases the stiffness of the specified axis.
(
: Setting is necessary,
△
: Set if necessary,
: Setting is not necessary)
Setting item
Status variable
(*=0, -1)
Parameter
(#=1 to 9)
Force control mode
Po
siti
on
cont
rol
For
ce
cont
rol
Sti
ffnes
s c
ont
rol
Li
m
ited
stif
fnes
s
cont
rol
C
ont
rol
m
ode
Force sense control
coordinate system
M_FsCod*
FSCOD0#
Force sense control mode
P_FsMod*
FSFMD0#
Stiffness coefficient
P_FsStf*
FSSTF0#
Damping coefficient
P_FsDmp*
FSDMP0#
△
△
△
Force sensor bias value
P_FsBias*
FSBIAS0#
△
△
△
△
Load center of gravity
position
P_FsGrPos* FSGRP0#
△
△
△
△
Load mass
M_FsMass*
FSMASS0#
△
△
△
△
C
ont
rol
c
har
ac
ter
is
tic
s Force command value
P_FsFCd*
FSFCMD0#
Limit value
Speed command value
P_FsSpd*
FSSPD0#
Mode switching judgment
value
P_FsSwF*
FSSWF0#
Force sense control gain
P_FsGn*
FSFGN0#
Force detection setting value P_FsFLm*
FSFLMT0#
△
△
△
△
(# corresponds to the group number 1 to 9.)
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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