Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 115

■ Description
The "control mode" and "control characteristics " used after the calibration are set at the beginning of
1)
the program.
The force sense calibration is started with the FsHndEst On command.
2)
After the robot moves to each calibration posture, the current position, the posture, and the force
3)
sensor data are obtained with the FsGetDat command.
The force sense calibration is completed with the FsHndEst Off command and the mass and the
4)
center of gravity position of the hand are estimated.
The force sense control in which the gravity offset is cancelled using the data estimated with the Fsc
5)
On command is enabled.
* Details for the FsHndEst command and FsGetDat command, see section
8 Using the Force Sense Function (Programming)
11.6
Gravity Offset Cancel Function 8-103
.