Mitsubishi Electric MELFA BFP-A3614 Manual page 51

2) Parameter Setting Example 2 (offset installation)
If, as shown below, the force sensor coordinate system origin is offset 50 mm in the +Zm
direction and rotated 30 degrees around the Zm-axis as viewed from the mechanical interface
coordinate system, set the parameters as follows.
Force sense coordinate
system
(mechanical interface)
Left-hand system
[Coordinate system hand system]
Since the force sensor coordinate system will be the left-hand system, set as follows.
FSHAND=0
[Parallel transfer]
The force sensor coordinate system origin position as viewed from the mechanical interface
coordinate system is (0, 0, 50), and therefore the FSXTL settings are as follows.
FSXTL 1st element = 0
FSXTL 2nd element = 0
FSXTL 3rd element = +50
[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 after rotating
+30 degrees around the Zm-axis, and therefore the FSXTL settings are as follows.
FSXTL 4th element = 0
FSXTL 5th element = +180
FSXTL 6th element = +30
Mechanical interface coordinate system
Robot view side
Force sensor coordinate system
Left-hand system
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