Mitsubishi Electric MELFA BFP-A3614 Manual page 92

Practice 6: Specifying the gravity offset cancel
1) Execute program "6".
2) Open program "6" and teach PP(1) to PP(9).
PP(1): Reference position
PP(2) to PP(5): Tilt A-axis and B-axis to the positive and negative direction slightly
(approximately 10 to 20 degrees) against the reference position.
PP(6) to PP(9): Tilt A-axis and B-axis to the positive and negative direction gradually
(approximately 20 to 45 degrees) against the reference position.
3) Execute automatic operation and check that
P_FsBias0
P_FsGrPos0
M_FsMass0
are changed after the program has stopped.
Posture 1
Posture 1
* When teaching PP(2) to PP(9), set the position as a reference (PP(1)) where the A-axis
and B-axis can move ±40 degrees from PP(1) by JOG operation.
Calibration posture movement image
X-axis rotation
Posture 2
Y-axis rotation
Posture 5
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Posture 3
Posture 4