Offset Cancel Designation - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8.1.2.10 Force Detection Setting Value
The force detection setting value is used with the following functions. Refer to the respective items.
Function Class
Force sense Interrupt
detection execution
Data latch
Force sense Contact
control (T/B) detection

Offset Cancel Designation

8.1.3
To operate the force sense control function properly, it is necessary to perform a force/moment offset cancel
(error component elimination) for each axis with no external force (robot stopped or with no contact made) other
than gravity acting on the sensor.
The following two offset cancel methods are available.
Offset Cancel Method
1 Method using Fsc On command
2 Offset cancel operation from T/B
<Offset cancel conditions>
If performing offset cancel, always do so with the following conditions satisfied.
Robot at complete stop

No contact with hand/workpiece, etc. (no external force acting)

Caution By performing an offset cancel with contact made (with external force other than gravity
acting on sensor), the force balance will be upset, and force control/stiffness control will not
function properly. Always perform the offset cancel with no contact made with the sensor.
If executing the Fsc On command when contact is made, disable the offset cancel
Caution
designation. In a case such as this, it is necessary to perform the offset cancel at a position
of no contact beforehand.
If the force sensor is used for a long time, the sensor's output value may be fluctuated by
Caution
effect of the temperature drift. Create programs to execute the offset cancel periodically.
<Force sensor temperature drift>
If using the force sensor for long periods of time, sensor output values may fluctuate due the influence of
temperature drift. Create a program to periodically perform offset cancel.
<Influence of gravity>
If changing the robot posture significantly, the force component applied to the sensor by gravity will change,
resulting in the need to perform offset cancel again. If the posture changes significantly with each job, it is
necessary to perform offset cancel again after the posture changes.
Description
Monitors the status with regard to the force
detection setting value.
(The start-up and shut-down status with regard to
the force detection setting value can be
obtained.)
Sensor data and position data at the moment the
force detection setting value is exceeded is
retained.
JOG operation is stopped the moment the
specified force (moment) is exceeded.
Set "1" for the Fsc On command argument <Offset cancel
designation>.
See section
8 Using the Force Sense Function (Programming)
Details
9.1.1.1 .
Reference
See section 8.2 .
See section 9.1 .
Force Sense Control 8-59