Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 186

11 Language Specifications
FsGetDat
[Function]
Acquires the data (robot's position posture and force sensor data) required for the force sense calibration
and stores it in a parameter.
[Syntax]
FsGetDat<Data No.>
[Terminology]
<Data No.> Specifies the parameter number to store the data acquired.
The argument value corresponding to the number of the parameter from "FSEST01" to
"FSEST09".
Setting range: 1 - 9
[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) Stores the robot's position posture and the force sensor data at the time of this command execution in the
parameter specified in the <Data No.>.
(2) If this command is executed without the force sensor, the process is not executed.
(3) If this command is executed when the FsHndEst On command is not executed, an error L3987 occurs.
11-174 Related Commands for Gravity Offset Cancel Function
' 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.