8. Parameter
307
[77] Pressing operation using force sensor gain (Parameter No.94)
No. Name Symbol Unit Input Range
Default factory
setting
94
Pressing operation using force
sensor gain
FRCG – 100 to 999999
In accordance with
actuator
This parameter defines the gain for pressing operation using force sensor. The gain may be
adjusted when the rigidity of the pressing target is extremely large or small.
The relation among the rigidity of pressing target, the response of pressing operation using
force sensor system and pressing operation using force sensor gain differs depending on the
actuator, and is as shown in the table below.
◎RA13R、RA10R * At delivery from factory
Rigidity of pressing target
Hard ← Rigidity → Soft
1050 2100 4200 8400 16800 33600
1200 2400 4800 9600 19200 38400
1350 2700 5400 10800 21600 43200
1500
(*)
3000 6000 12000 24000 48000
1650 3300 6600 13200 26400 52800
1800 3600 7200 14400 28800 57600
Responsiveness of Control
System
High ← Response → Low
1950 3900 7800 15600 31200 62400
◎RA8R * At delivery from factory
Rigidity of pressing target
Hard ← Rigidity → Soft
2100 4200 8400 16800 33600 67200
2400 4800 9600 19200 38400 76800
2700 5400 10800 21600 43200 86400
3000
(*)
6000 12000 24000 48000 96000
3300 6600 13200 26400 52800 105600
3600 7200 14400 28800 57600 115200
Responsiveness of Control
System
High ← Response → Low
3900 7800 15600 31200 62400 124800
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