Recommended Attachment Angle - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

5 Attaching the Force Sensor

5.3 Recommended Attachment Angle

The following attachment method is recommended to ensure easy calibration with the force sensor coordinate
system and force sense coordinate system (mechanical interface) that forms the reference for the force sense
function.
[Recommended attachment angle]
Attach so that the sensor coordinate system +FXs direction is parallel with the mechanical interface

coordinate system +Xm direction.
<Calibration>
To ensure proper functioning of the force sense function, it is necessary to correctly set the correlation between
the force sensor coordinate system and force sense coordinate system (mechanical interface).
* Refer to section 6.5.2
* Refer to section 3.6 for details on the coordinate system definition.
5-26 Recommended Attachment Angle
+Ym
+Zm
+Xm
for details on the calibration method.
Sensor attachment adapter
+FYs
Force sensor
+FZs
+FXs