Usage Example (Force Sensor Calibration) - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

8 Using the Force Sense Function (Programming)

Usage Example (Force Sensor Calibration)

8.4.4
Force sensor calibration
■ Operation details
Estimates the mass and the center of gravity position of the hand by the force sensor calibration function.
Execute the force sensor calibration.

Enable the force sensor control that is enabled the gravity offset cansel.

■ Program example < Sample Program F811.prg>
'[Control mode (0)]
P_FsStf0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsDmp0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsMod0 = (+0.00,+0.00,+1.00,+0.00,+0.00,+0.00)(0,0)
M_FsCod0 = 0
'[Control characteristics (0)]
P_FsGn0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
P_FsFLm0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsFCd0 = (+0.00,+0.00,+10.00,+0.00,+0.00,+0.00)(0,0)
P_FsSpd0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_FsSwF0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'*** < Force sense calibration execution > ***
Dim PP(9)
Servo On
Mov PP(1)
Dly 1
FsHndEst On,0
For M1=1 To 9 Step 1
Mov PP(M1)
Dly 1.5
FsGetDat M1
Mov PP(1)
Dly 0.5
Next M1
FsHndEst Off
Fsc On,0,0,1
Dly 10
Fsc Off
End
8-102 Gravity Offset Cancel Function
'Stiffness coefficient [N/mm]
'Damping coefficient
'Force control mode (Z-axis force control)
'Force sense control coordinate system (tool)
'Force control gain [µm/N]
'Force detection setting value [N]
'Force command (FZt direction, 10N)
'Sets speed control mode speed.
'Sets force/speed judgment value.
'Robot moves to the start point.
'Execute the caliburation
'Robot moves to the caliburation posture
'The current position and force sense data acquisition
'Robot moves to the start point.
'Calibration is completed. Estiamte the load.
'Force sens control is enabled
'Force sens control is disabled