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18.7. Force sensor calibration
18.7.1. Outline
Force sensor calibration is the function that calculates the weight and center of gravity position of the robot hand
attached to a force sensor.
The data calculated by force sensor calibration (robot hand weight and center of gravity position) is needed
during force offset cancellation. Execute the force sensor calibration before the execution of gravity offset
cancellation.
The table below shows the robot controller versions and robot models.
No.
Robot model
1
Vertical 6-axis robot
2
Vertical 5-axis robot
3
Horizontal 4-axis robot
18.7.2. Starting
From the project tree, double-click [Tool] -> [Force sensor] -> [Force sensor calibration]
This function can be used when connected with a machine supporting force sensor function. For details on the
setup method, refer to the user's manual of the force sensor function (BFP-A8940).
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Table 18-14 Supported robot controllers and model
CR800
All versions
(RV-FR series models)
not used
not used
Figure 18-69 Startup screen of force sensor calibration
CR750/700
Version R6h/S6h
or later
(RV-F series models)
not used
not used
CRn-500
not used
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