Gravity Offset Cancel Function; Estimated Data; About Calibration Posture - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

8.4 Gravity Offset Cancel Function

Gravity offset cancel is a function that the offset cancel in response to a change in the direction of gravity
applied to the force sensor by hand load at the time of posture change.To use this function, it is necessary to
estimate the bias value of the force sensor, position of the senter of gravity and the mass of hand load by the
force calibration.

Estimated data

8.4.1
The data estimated by the force sensor calibration function is explained below.
(1) Force sensor bias value
(2) Load center of gravity position
The center of gravity position of the load attached the force sensor.
(3) Load mass
The mass of the load attached the force sensor.

About Calibration Posture

8.4.2
The force calibration is required nine posture shown in Table 8-17. It shows the movement image of the posture
No. 1 to 5 in Fig. 8-6.
Posture No.
Posture that the mechanical interface is parallel to the ground.
1
Posture rotated in the +X-axis around the mechanical interface with respect to posture No.1.
2
Posture rotated in the -X-axis around the mechanical interface with respect to posture No.1.
3
Posture rotated in the +Y-axis around the mechanical interface with respect to posture No.1.
4
Posture rotated in the -Y-axis around the mechanical interface with respect to posture No.1.
5
Posture rotated in the +X-axis around the mechanical interface with respect to posture No.1.
6
* Rotate at different angle from posture No.2.
Posture rotated in the -X-axis around the mechanical interface with respect to posture No.1.
7
* Rotate at different angle from posture No.3.
Posture rotated in the +Y-axis around the mechanical interface with respect to posture No.1.
8
* Rotate at different angle from posture No.4.
Posture rotated in the -Y-axis around the mechanical interface with respect to posture No.1.
9
* Rotate at different angle from posture No.5.
8-94 Gravity Offset Cancel Function
Table 8-17: Posture for force calibration
Condition