Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 118

9 Using the Force Sense Function (Teaching)
9.1.1.1 Offset Cancel Operation
If the force sensor data zero point is offset, force sense control will not function properly. Always perform the
offset cancel operation (sensor zero point offset) before use. The offset cancel operation can only be
performed when force sense control is disabled.
[Offset cancel operation]
Move the robot to a position at which no external force acts on the sensor (position at which no contact
•
is made with hand, etc.)
Ensure that the robot is stationary and then perform the offset cancel operation. (See diagram below).
•
R32TB/R33TB
[FUNCTION] key
JOG operation screen
[F3] key: Force sense
 Offset cancel operation precautions 
The offset cancel status is reset by rebooting the controller. If the controller is rebooted, perform

the offset cancel operation again.
The effects of gravity are contained in the sensor offset component, and therefore if the robot

arm posture is changed significantly, it is necessary to perform the offset cancel operation again.
The offset amount may change if used for long periods of time due to changes in sensor

temperature (temperature drift). In such a case, perform the offset cancel operation again.
9-106 Force Sense T/B
[JOG] key
Sensor zero point offsetting is performed by
pressing the [Offset Cancel] button.
R56TB/R57TB
By pressing the [F] key, a
force sense control screen
appears.