Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 185

FsHndEst Off
[Function]
Estimates the data (bias value, center of gravity position and mass of the load) required for the gravity offset
cancel and finishes the process.
[Syntax]
FsHndEstOff
[Example]
1 FsHndEst On, 1
2 For M1=1 To 9 Step 1
3 Mov PP(M1)
4 Dly 1
5 FsGetDat M1
6 Next M1
7 FsHndEst Off
[Description]
(1) Estimates the bias value required for the gravity offset cancel and the center of gravity position and mass of
the load installed to the force sensor, and finishes the process.
(2) Executing this command starts the estimation process of the load using the data stored in the parameters
from "FSEST01" to "FSEST09".
(3) The result estimated by this command is stored in the status variable/parameter corresponding to the
<control mode> specified in the FsHndEst On command.
(4) If this command is executed when the FsHndEst On command is not executed, the process is not executed.
(5) The estimated result is retained until the power supply is restarted or another FsHndEst Off command is
executed.
(6) If this command is executed without the force sensor, the process is not executed.
(7) If this command is executed while the force sense control using the <control mode> specified in the
FsHndEst On command is enabled, an error L3987 occurs.
(8) When the invalid posture data is included in the parameters from "FSEST01" to "FSEST09", an error L3987
occurs. For the posture data used by this command, see section 12 .
(9) If the estimation result is abnormal, an error L3987 occurs.
' Starts the data acquisition for the gravity offset cancel.
' Repeats 9 times.
' Robot moves to PP(M1) by joint interportion.
' Waits for 1 second.
'Stores the current robot posture and the force sensor data to
the FSEST#n parameter corresponding to the value of M1.
'Completes the repeat process.
'Completes the data measurement for the gravity offset
cancel.
Related Commands for Gravity Offset Cancel Function 11-173
11 Language Specifications