Related Commands For Gravity Offset Cancel Function - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11 Language Specifications

11.6 Related Commands for Gravity Offset Cancel Function

MELFA-BASIC V commands relating to the gravity offset cancel function are described below.
No. Command
1 FsHndEst On
2 FsHndEst Off
3 FsGetDat
FsHndEst On
[Function]
Starts the estimation process of the data (bias value, center of gravity position and mass of the load)
required for the gravity offset cancel.
[Syntax]
FsHndEstOn <Control mode>
[Terminology]
<Control mode> Specifies the numerical value of status variables/parameters to store the estimated result.
The argument value corresponds to that of the Fsc On command <control mode>.
Setting range: -1 - 9
Setting item
Bias value
Center of gravity
position
Mass
[Example]
1 FsHndEst On, 1
2 For M1=1 To 9 Step 1
3 Mov PP(M1)
4 Dly 1
5 FsGetDat M1
6 Next M1
7 FsHndEst Off
[Description]
(1) Starts the estimation process of the bias value required for the gravity offset cancel and the center of gravity
position and mass of the load installed to the force sensor.
(2) If this command is executed without the force sensor, the process is not executed.
(3) If this command is executed continuously, the <control mode> specified with the command executed last is
enabled.
11-172 Related Commands for Gravity Offset Cancel Function
Table 11-9 Gravity offset cancel commands
Starts the process of the force sensor calibration.
Estimates the force sensor calibration result and finishes the process.
Acquires the data (position and posture, force sensor data) required for the force
sensor calibration.
-1 0
P_FsBias1 P_FsBias0
P_FsGrPos1 P_FsGrPos0 FSGRP01
M_FsMass1 M_FsMass0
Function Overview
Control mode
1
FSBIAS01 FSBIAS02
FSGRP02
FSMASS01 FSMASS02
' Starts the data acquisition for the gravity offset cancel.
' Repeats 9 times.
' Robot moves to PP(M1) by joint interportion.
' Waits for 1 second.
'Stores the current robot posture and the force sensor data to
the FSEST#n parameter corresponding to the value of M1.
'Completes the repeat process.
'Completes the data measurement for the gravity offset
cancel.
2 -
-
-
-
9
FSBIAS09
FSGRP09
FSMASS09