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2.4 Relation Between Parameter Installation Position and Angle (FSXTL)
(1) Installation position
For the installation position (FSXTL), set the position relation of the force sensor coordinate system
from the mechanical interface coordinate system of the robot in the force sensor parameter setting.
When using
1.1 (3) Sensor Attachment Adapter External
follows.
Sensor attachment adapter
A [mm]
Mechanical interface
Parameter installation position
Force sensor
1F-FS001-W200
1F-FS001-W1000
+FYs
+FXs
X and Y direction position of the mechanical interface and force sensor
detection center match
Installation position X, Y [mm] = 0 [mm]
(FSXTL)
H[mm]
A[mm]
18
14
20
Note 1: A is the thickness (mm) of the sensor attachment adapter
Dimensions, the installation position is as
Installation position Z [mm] = A + H [mm]
Distance between the mechanical
interface and the home position of the
force sensor coordinate system
Sensor detection center position
H [mm]
+FZs
Force sensor coordinate
system home position
(sensor detection center)
Mechanical interface
Force sensor coordinate
system home position
(sensor detection center)
(When using the sensor attachment adapter
Installation position (FSXTL) [mm]
X
0
0
-18-
described in 1.1 (3))
Y
Z
0
32
(Note 1)
20＋A
0
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