Checking The Force Sensor Attachment Coordinate System - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

7 Checking the Connection and Settings

7.2 Checking the Force Sensor Attachment Coordinate System

Check force data when external force is applied by hand to the force sensor tool side. If set correctly, the
correlation between the direction in which force is applied and the changed direction in the force data will be as
shown in "Table 7-1". If the force data direction is different, check the calibration parameter settings in " section
6.5.2 ".
Caution
Caution
Force sense coordinate
system
(mechanical interface)
Force sensor
7-44 Checking the Force Sensor Attachment Coordinate System
In the interest of safety, always perform this check with the servo power OFF.
If tool coordinates are set, perform this check after disabling the tool designation.
(Check after setting all parameter MEXTL setting values to 0.)
+FXm
+FZm
+FYm
+Xm
Table 7-1: Force direction check
Direction in
which Force
Applied
(1) -Xm direction
(2) -Ym direction
(3) -Zm direction
Mechanical interface coordinate system
+Ym
+Zm
Check the force data displayed at
the teaching pendant while
pushing by hand.
Force Data Change
Fx value changes to + direction.
Fy value changes to + direction.
Fz value changes to + direction.