Calibration - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

Calibration

6.5.2
To use the force sense function, it is necessary to define (calibrate) the correlation between the force sensor
coordinate system and force sense coordinate system (mechanical interface). Calibration is performed with the
following parameter settings.
Caution
Parameter
Parameter
Name
Force sensor FSHAND
coordinate
system
selection
Force sensor FSXTL
attachment
position
Force sense
coordinate system
(mechanical
interface)
[Calibration]
Sets the correlation between the force sensor
coordinate system and force sense coordinate
system (mechanical interface).
* Refer to the next sub-section for more specific details on the setting method.
There is a danger that the robot may move in an unintended direction if the calibration
settings are incorrect. After setting the parameters, always check that they have been
set correctly by following the procedure in "Chapter 7 ".
Table 6-2 Details of parameters FSHAND and FSXTL
No. of
Elements
1 integer Selects the force sensor coordinate system hand system
(left-hand system/right-hand system).
The force sensor coordinate system hand system differs
depending on the sensor attachment direction, and
therefore it is necessary to change the setting based on
the attachment direction.
Set the left-hand system for recommended attachment.
0: Force sensor coordinate system left-hand system
1: Force sensor coordinate system right-hand system
<Left-hand system>
Ｙ
6 real Sets the positional relationship for the mechanical
numbers interface coordinate system and force sensor coordinate
system.
1st element: X-axis direction coordinate system origin offset [mm]
2nd element: Y-axis direction coordinate system origin offset [mm]
3rd element: Z-axis direction coordinate system origin offset [mm]
4th element: Coordinate axis rotation angle around X-axis [deg]
5th element: Coordinate axis rotation angle around Y-axis [deg]
6th element: Coordinate axis rotation angle around Z-axis [deg]
+FXm
+FZm
+FYm
+Xm
6 Device Connection, Wiring, and Settings
Description
<Right-hand system>
Ｚ Ｚ
Ｘ
Ｘ
Mechanical interface
coordinate system
+Ym
+Zm
+FYs
+FXs
Factory Default
Setting
0
Ｙ
0.0, 0.0, 0.0,
0.0, 180.0, 0.0
(vertical multi-joint
robots)
0.0, 0.0, 0.0,
0.0, 0.0, 180.0
(horizontal
multi-joint robots)
Force sensor
coordinate system
+FZs
Default Parameter Settings 6-37