Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 113

Caution
8.4.3.2 Estimated Using the Robot Program
Using the robot program estimate the mass and the position of the center of gravity of the hand load. If you want
to estimate a robot program, use the following commands. Please refer to Chapter 11.6 for details commands.
No. Command
1 FsHndEst On
2 FsHndEst Off
3 FsGetDat
The force calibration by executing the following robot program, estimate the hand load.
■ Program example
'*** < Force sense calibration execution > ***
Dim PP(9)
Servo On
Mov PP(1)
Dly 1
FsHndEst On,0
For M1=1 To 9 Step 1
Mov PP(M1)
Dly 1.5
FsGetDat M1
Mov PP(1)
Dly 0.5
Next M1
FsHndEst Off
End
When you click [Finish] button to exit the force calibration, the program used in the
calibration will be removed from the controller.
Table 8-18: Gravity offset cancel commands
To begin the processing of the force calibration.
To estimate the force calibration result, to complete the process.
To get the data (current position and the force sensor data) required to the force
calibration.
8 Using the Force Sense Function (Programming)
Function Overview
'Robot moves to the start point.
'Execute the caliburation
'Robot moves to the caliburation posture
' Wait until the robot stops
'The current position and force sense data acquisition
'Robot moves to the start point.
'Calibration is completed. Estiamte the load.
Gravity Offset Cancel Function 8-101