Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 110

8 Using the Force Sense Function (Programming)
4） Spesify the rotary angle for calibration movement
Please specify the rotary angle from the start position. In force calibration, the robot is rotated by a
specified angle twice in the X-axis and Y-axis aroud the mechanical interface to the start position.
Caution
Caution
Caution
8-98 Gravity Offset Cancel Function
Set the anlgle smaller than reference value if the robot interfere with the peripheral
device or the tension of air hose attached to hand of various cable changes by the
robot's posture change and load is applied to force sensor other than gravity.
If the rotary angle is below 10[deg], calibration calculation error can occur. In that
case, set the rotary angle large and re-execute the calibration.
If the angles of movement 1 and movement 2 are same value, calibration results are
not calcurated correctly. Set the different angle to movement 1 and movement 2.