Mitsubishi Electric MELFA BFP-A3614 Manual page 50

d) Parameter setting example
1) Parameter Setting Example 1 (for Recommended Installation)
When the force sensor is installed in the recommended installation (See below) the parameter
settings for elements 1 to 4 for FSHAND and FSXTL will be the default factory settings. Change
only elements 1 to 3 for FSXTL. The processing command can be added only to the movement
command.
* The following shows a recommended installation method, which is described in
"Chapter2 2.2 Install the Force
Force sense coordinate
system
(mechanical interface)
Left-hand system
[Recommended installation]
Install the sensor so that the
+FXs and +Xm directions match.
[Coordinate system hand system]
Since the force sensor coordinate system will be the left-hand system, set as follows.
FSHAND = 0 (default)
[Parallel transfer]
Since the force sensor coordinate system home position viewed from the mechanical interface
coordinate system is (0, 0, 32), FSXTL is set as follow.
FSXTL 1st element = 0
FSXTL 2nd element = 0
FSXTL 3rd element = +32
[Rotational transfer]
To align the posture of the force sense coordinate system (mechanical interface) and force
sensor coordinate system, it is sufficient to rotate +180 degrees around the Ym-axis, and FSXTl
is set as follows.
FSXTL 4th element = 0 (default)
FSXTL 5th element = +180 (default)
FSXTL 6th element = 0 (default)
Sensor".
Mechanical interface coordinate system
Robot view side
Force sensor coordinate system
Left-hand system
-39-
32 mm
(sensor attachment adapter thickness
+ distance to the origin of the force
sensor coordinate system)