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(2) Calibration
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
a) Position/angle (FSXTL)
Parameter
Parameter
Name
Force sensor
FSXTL
attachment
position
b) Force sense hand coordinate system (FSHAND)
Parameter
Parameter
Name
Force sensor
FSHAND
coordinate
system
selection
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
Connection and Setting
No. of
Elements
6 real
Sets the positional relationship for the
mechanical interface coordinate system and
numbers
force sensor coordinate system.
1st element: X-axis direction coordinate system
2nd element: Y-axis direction coordinate
3rd element: Z-axis direction coordinate system
4th element: Coordinate axis rotation angle
5th element: Coordinate axis rotation angle
6th element: Coordinate axis rotation angle
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.
(Refer to
Parameter setting example.
0: Force sensor coordinate system left-hand system
1: Force sensor coordinate system right-hand system
<Left-hand system>
Check".
Description
origin offset [mm]
system origin offset [mm]
origin offset [mm]
around X-axis [deg]
around Y-axis [deg]
around Z-axis [deg]
Description
Chapter4 4.4 (2) Calibration d)
)
<Right-hand system>
-37-
"Chapter4 4.3
Factory Default
Setting
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)
Factory
Default Setting
0
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