Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 109

3） Register the start position
Please register the start position for force calibration. Set the position at which the mechanical interface of
robot is parallel to the ground to the start position. In force calibration, rotate the X-axis and Y-axis around
the mechanical interface. Please adjust the start position to the position that does not interfere with the
peripheral device.
After moved the robot to near the start position, Please click [Auto adjustment] button. The robot moves to
position the mechanical interface is parallel to the ground. After moved the robot to the start position,
Please click [Get the current position] button. The current position of the robot is registered.
Caution
If [Auto adjustment] button is clicked, robot moves. Please check the safety of around
the robot. If the override is greater than 10 %, override is changed to 10% for safety.
Please prepare T/B to stop anytime in the emergency.
8 Using the Force Sense Function (Programming)
Gravity Offset Cancel Function 8-97